diff --git a/annotations/task-0000/episode_00000040.json b/annotations/task-0000/episode_00000040.json new file mode 100644 index 0000000000000000000000000000000000000000..313508c61c9acb83141ffef15399966cc691e836 --- /dev/null +++ b/annotations/task-0000/episode_00000040.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1839, + "valid_duration": [0, 1839] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 308], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [308, 1118], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1123, 1368], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1369, 1839], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1118], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1123, 1368], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1369, 1839], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000050.json b/annotations/task-0000/episode_00000050.json new file mode 100644 index 0000000000000000000000000000000000000000..362f6db49fdbe63ed26c9d879a8102d449c07e7d --- /dev/null +++ b/annotations/task-0000/episode_00000050.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1484, + "valid_duration": [0, 1484] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 360], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [360, 1021], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1021, 1166], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1166, 1484], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1021], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1021, 1166], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1166, 1484], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000060.json b/annotations/task-0000/episode_00000060.json new file mode 100644 index 0000000000000000000000000000000000000000..5988f52615c04963428a5f8fcf1f321d5052523e --- /dev/null +++ b/annotations/task-0000/episode_00000060.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2529, + "valid_duration": [576, 3105] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [576, 1443], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1443, 2390], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2390, 2644], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2644, 3105], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [576, 2390], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2390, 2644], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2644, 3105], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000070.json b/annotations/task-0000/episode_00000070.json new file mode 100644 index 0000000000000000000000000000000000000000..869d01e0eb538eab7b40343d81bbef1336f99905 --- /dev/null +++ b/annotations/task-0000/episode_00000070.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2253, + "valid_duration": [0, 2253] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 320], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [320, 1479], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1479, 1662], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1662, 2253], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1479], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1479, 1662], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1662, 2253], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000080.json b/annotations/task-0000/episode_00000080.json new file mode 100644 index 0000000000000000000000000000000000000000..47bd1f1be095b34bbf0e3b4e3607e3c0dab87348 --- /dev/null +++ b/annotations/task-0000/episode_00000080.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2356, + "valid_duration": [0, 2356] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 334], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [844, 1473], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1473, 1864], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1865, 2356], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1473], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1473, 1864], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1865, 2356], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000100.json b/annotations/task-0000/episode_00000100.json new file mode 100644 index 0000000000000000000000000000000000000000..c2beec80542fb873d5dddb2b942cbb87a5ad9764 --- /dev/null +++ b/annotations/task-0000/episode_00000100.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2216, + "valid_duration": [0, 2216] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 598], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [598, 1477], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1498, 1782], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1782, 2216], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1477], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1498, 1782], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1782, 2216], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000110.json b/annotations/task-0000/episode_00000110.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e772c6fcf44f00e5b5895d61020f7158ae9de8 --- /dev/null +++ b/annotations/task-0000/episode_00000110.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2247, + "valid_duration": [0, 2247] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 865], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [866, 1557], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1557, 1994], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1994, 2247], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1557], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1557, 1994], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1994, 2247], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000120.json b/annotations/task-0000/episode_00000120.json new file mode 100644 index 0000000000000000000000000000000000000000..c033d2806fd7f0fc2a2203a0277f1d15693b56e0 --- /dev/null +++ b/annotations/task-0000/episode_00000120.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2769, + "valid_duration": [0, 2769] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 634], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [828, 2141], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2142, 2616], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2616, 2769], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2141], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2142, 2616], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2616, 2769], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000130.json b/annotations/task-0000/episode_00000130.json new file mode 100644 index 0000000000000000000000000000000000000000..6ae5b93c805a7433864bcefb5aa7addd77d9994c --- /dev/null +++ b/annotations/task-0000/episode_00000130.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2157, + "valid_duration": [0, 2157] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 546], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [906, 1354], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1479, 1800], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1800, 2157], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1354], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1479, 1800], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1800, 2157], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000140.json b/annotations/task-0000/episode_00000140.json new file mode 100644 index 0000000000000000000000000000000000000000..209d59b094988ad5a2d4d706f5e3506ddc4071ec --- /dev/null +++ b/annotations/task-0000/episode_00000140.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1985, + "valid_duration": [6, 1991] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6, 1033], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1034, 1601], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1601, 1802], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1803, 1991], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6, 1601], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1601, 1802], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1803, 1991], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000240.json b/annotations/task-0000/episode_00000240.json new file mode 100644 index 0000000000000000000000000000000000000000..165fd815b62aaa260ef32de43e915adb43335a94 --- /dev/null +++ b/annotations/task-0000/episode_00000240.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1882, + "valid_duration": [0, 1882] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 404], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [404, 1068], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1068, 1552], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1552, 1882], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1068], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1068, 1552], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1552, 1882], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000250.json b/annotations/task-0000/episode_00000250.json new file mode 100644 index 0000000000000000000000000000000000000000..37a90dcb9a3d7714da61251fea0400a865390ac1 --- /dev/null +++ b/annotations/task-0000/episode_00000250.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2454, + "valid_duration": [0, 2454] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 848], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [848, 1840], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1855, 2184], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2184, 2454], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1840], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1855, 2184], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2184, 2454], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000260.json b/annotations/task-0000/episode_00000260.json new file mode 100644 index 0000000000000000000000000000000000000000..b4f2f5108c73a9a2774a31ad09a3087b25857eec --- /dev/null +++ b/annotations/task-0000/episode_00000260.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2133, + "valid_duration": [0, 2133] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 833], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [839, 1496], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1496, 1868], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1868, 2133], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1496], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1496, 1868], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1868, 2133], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000270.json b/annotations/task-0000/episode_00000270.json new file mode 100644 index 0000000000000000000000000000000000000000..9f19a5396964bd0a4944e376c90992cd63e83450 --- /dev/null +++ b/annotations/task-0000/episode_00000270.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1785, + "valid_duration": [0, 1785] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 525], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [525, 1197], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1197, 1417], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1417, 1785], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1197], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1197, 1417], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1417, 1785], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000300.json b/annotations/task-0000/episode_00000300.json new file mode 100644 index 0000000000000000000000000000000000000000..f9ad8f1d2b835f51af939639025d741d0fc7e2e5 --- /dev/null +++ b/annotations/task-0000/episode_00000300.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1696, + "valid_duration": [0, 1696] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 306], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [306, 1165], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1165, 1464], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1465, 1696], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1165], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1165, 1464], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1465, 1696], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000310.json b/annotations/task-0000/episode_00000310.json new file mode 100644 index 0000000000000000000000000000000000000000..b971f7aacbfb1d422e0ab7d8831b003a990937ac --- /dev/null +++ b/annotations/task-0000/episode_00000310.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2545, + "valid_duration": [0, 2545] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 789], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [789, 1729], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1729, 2094], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2094, 2545], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1729], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1729, 2094], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2094, 2545], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000320.json b/annotations/task-0000/episode_00000320.json new file mode 100644 index 0000000000000000000000000000000000000000..5076780049561957a85b30962f949e5cb6179049 --- /dev/null +++ b/annotations/task-0000/episode_00000320.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2565, + "valid_duration": [0, 2565] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 779], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [850, 2052], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2052, 2261], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2261, 2565], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2052], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2052, 2261], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2261, 2565], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000330.json b/annotations/task-0000/episode_00000330.json new file mode 100644 index 0000000000000000000000000000000000000000..76f73bc3fd63b094bddfa9ce3f73312f69dc9e4b --- /dev/null +++ b/annotations/task-0000/episode_00000330.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1977, + "valid_duration": [0, 1977] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 387], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [387, 1313], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1314, 1580], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1580, 1977], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1313], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1314, 1580], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1580, 1977], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000390.json b/annotations/task-0000/episode_00000390.json new file mode 100644 index 0000000000000000000000000000000000000000..5745f05013c0dd4cc27ce96ecaa6c36482beb2f0 --- /dev/null +++ b/annotations/task-0000/episode_00000390.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2160, + "valid_duration": [0, 2160] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 656], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [656, 1649], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1649, 1902], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1903, 2160], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1649], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1649, 1902], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1903, 2160], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000440.json b/annotations/task-0000/episode_00000440.json new file mode 100644 index 0000000000000000000000000000000000000000..551d0af8070d36b6d0afeded6b0b15aa1256bfc3 --- /dev/null +++ b/annotations/task-0000/episode_00000440.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2181, + "valid_duration": [0, 2181] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 440], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [440, 1465], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1466, 1698], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1699, 2181], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1465], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1466, 1698], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1699, 2181], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000450.json b/annotations/task-0000/episode_00000450.json new file mode 100644 index 0000000000000000000000000000000000000000..b675880911f9540e1804ee5c291ab17ef14ef538 --- /dev/null +++ b/annotations/task-0000/episode_00000450.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1470, + "valid_duration": [30, 1500] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 398], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [399, 1017], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1018, 1240], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1240, 1500], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1017], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1018, 1240], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1240, 1500], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000460.json b/annotations/task-0000/episode_00000460.json new file mode 100644 index 0000000000000000000000000000000000000000..478d2b32b382a248a6736f4761bddfb1606a39ee --- /dev/null +++ b/annotations/task-0000/episode_00000460.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2497, + "valid_duration": [0, 2497] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 766], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1186, 1732], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1732, 2082], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2082, 2497], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1732], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1732, 2082], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2082, 2497], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000480.json b/annotations/task-0000/episode_00000480.json new file mode 100644 index 0000000000000000000000000000000000000000..008f620c82ad9e932721b39944f8051e360dbfca --- /dev/null +++ b/annotations/task-0000/episode_00000480.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2052, + "valid_duration": [0, 2052] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 784], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [784, 1512], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1512, 1742], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1743, 2052], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1512], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1512, 1742], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1743, 2052], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000490.json b/annotations/task-0000/episode_00000490.json new file mode 100644 index 0000000000000000000000000000000000000000..cba13971a9af444e4955c2a8779607817ffc2d13 --- /dev/null +++ b/annotations/task-0000/episode_00000490.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2604, + "valid_duration": [0, 2604] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1065], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1109, 1882], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1882, 2225], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2226, 2604], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1882], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1882, 2225], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2226, 2604], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000500.json b/annotations/task-0000/episode_00000500.json new file mode 100644 index 0000000000000000000000000000000000000000..a3c65e2c4b98dccdc8ace07a2ac70a85f64e8a48 --- /dev/null +++ b/annotations/task-0000/episode_00000500.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1908, + "valid_duration": [0, 1908] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 452], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [452, 1211], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1211, 1495], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1495, 1908], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1211], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1211, 1495], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1495, 1908], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000510.json b/annotations/task-0000/episode_00000510.json new file mode 100644 index 0000000000000000000000000000000000000000..2bac70d826228c099e747053875a4b0929377c59 --- /dev/null +++ b/annotations/task-0000/episode_00000510.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2266, + "valid_duration": [0, 2266] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 563], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [563, 1640], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1640, 1875], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1875, 2266], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1640], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1640, 1875], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1875, 2266], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000520.json b/annotations/task-0000/episode_00000520.json new file mode 100644 index 0000000000000000000000000000000000000000..4ab68880880ec491499d0ca582b715790ab1e420 --- /dev/null +++ b/annotations/task-0000/episode_00000520.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2511, + "valid_duration": [30, 2541] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 969], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [969, 1832], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1832, 2135], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2135, 2541], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1832], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1832, 2135], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2135, 2541], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000530.json b/annotations/task-0000/episode_00000530.json new file mode 100644 index 0000000000000000000000000000000000000000..e9e6b9cde6af570d8f39f8afdb876b79c0d102cc --- /dev/null +++ b/annotations/task-0000/episode_00000530.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1786, + "valid_duration": [0, 1786] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 515], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [515, 1317], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1330, 1506], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1506, 1786], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1317], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1330, 1506], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1506, 1786], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000640.json b/annotations/task-0000/episode_00000640.json new file mode 100644 index 0000000000000000000000000000000000000000..ca7b513b02415f8abd0cff0f869144827c4afcfd --- /dev/null +++ b/annotations/task-0000/episode_00000640.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1866, + "valid_duration": [0, 1866] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 257], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [257, 1029], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1029, 1229], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1229, 1866], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1029], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1029, 1229], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1229, 1866], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000650.json b/annotations/task-0000/episode_00000650.json new file mode 100644 index 0000000000000000000000000000000000000000..a3baf0e234a7bf407146f5ffce8352239abe06f1 --- /dev/null +++ b/annotations/task-0000/episode_00000650.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2363, + "valid_duration": [0, 2363] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 650], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [650, 1348], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1348, 1636], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1636, 2363], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1348], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1348, 1636], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1636, 2363], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000660.json b/annotations/task-0000/episode_00000660.json new file mode 100644 index 0000000000000000000000000000000000000000..d814014ca22b942d5a68821e52018d370c610fd3 --- /dev/null +++ b/annotations/task-0000/episode_00000660.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1996, + "valid_duration": [0, 1996] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 580], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [580, 1126], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1126, 1324], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1324, 1996], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1126], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1126, 1324], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1324, 1996], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000670.json b/annotations/task-0000/episode_00000670.json new file mode 100644 index 0000000000000000000000000000000000000000..c31043bc801f3f0f380cb890782a1e1419392d08 --- /dev/null +++ b/annotations/task-0000/episode_00000670.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1886, + "valid_duration": [0, 1886] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 351], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [352, 1219], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1219, 1433], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1433, 1886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1219], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1219, 1433], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1433, 1886], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000680.json b/annotations/task-0000/episode_00000680.json new file mode 100644 index 0000000000000000000000000000000000000000..4b1f4c9925de637d576876963a19da5a0d3d4623 --- /dev/null +++ b/annotations/task-0000/episode_00000680.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2068, + "valid_duration": [0, 2068] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 576], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [854, 1421], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1421, 1685], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1685, 2068], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1421], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1421, 1685], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1685, 2068], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000690.json b/annotations/task-0000/episode_00000690.json new file mode 100644 index 0000000000000000000000000000000000000000..d7d929aa0912e63b1e73e80d7c74a71d29084bc2 --- /dev/null +++ b/annotations/task-0000/episode_00000690.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1971, + "valid_duration": [33, 2004] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [33, 471], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [471, 1117], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1117, 1379], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1380, 2004], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [33, 1117], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1117, 1379], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1380, 2004], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000710.json b/annotations/task-0000/episode_00000710.json new file mode 100644 index 0000000000000000000000000000000000000000..e16de358f0a6681fb7266cd386c228f29efef07f --- /dev/null +++ b/annotations/task-0000/episode_00000710.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2065, + "valid_duration": [0, 2065] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 317], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [318, 1033], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1033, 1394], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1394, 2065], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1033], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1033, 1394], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1394, 2065], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000720.json b/annotations/task-0000/episode_00000720.json new file mode 100644 index 0000000000000000000000000000000000000000..e8da3df1db922424d70cc24b7fe49b92e2b45a0c --- /dev/null +++ b/annotations/task-0000/episode_00000720.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2143, + "valid_duration": [0, 2143] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 538], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [538, 1467], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1467, 1697], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1698, 2143], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1467], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1467, 1697], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1698, 2143], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000730.json b/annotations/task-0000/episode_00000730.json new file mode 100644 index 0000000000000000000000000000000000000000..6792cc410ee17790a51d50dba02c3030d61b4074 --- /dev/null +++ b/annotations/task-0000/episode_00000730.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1966, + "valid_duration": [0, 1966] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 120], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [120, 1171], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1171, 1424], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1424, 1966], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1171], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1171, 1424], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1424, 1966], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000800.json b/annotations/task-0000/episode_00000800.json new file mode 100644 index 0000000000000000000000000000000000000000..4cfe1a13638303fee565dc04db0a0b02c13db9e6 --- /dev/null +++ b/annotations/task-0000/episode_00000800.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2008, + "valid_duration": [0, 2008] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 342], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [358, 1122], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1123, 1454], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1455, 2008], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1122], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1123, 1454], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1455, 2008], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000810.json b/annotations/task-0000/episode_00000810.json new file mode 100644 index 0000000000000000000000000000000000000000..c8de4445a5611d10f396522d3210a83d53b527b7 --- /dev/null +++ b/annotations/task-0000/episode_00000810.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2705, + "valid_duration": [0, 2705] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1181], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1182, 2012], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2012, 2338], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2397, 2705], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2012], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2012, 2338], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2397, 2705], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000820.json b/annotations/task-0000/episode_00000820.json new file mode 100644 index 0000000000000000000000000000000000000000..1039beb0dd1f669a2bb1d3d4740bf924f9ff1aad --- /dev/null +++ b/annotations/task-0000/episode_00000820.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2130, + "valid_duration": [0, 2130] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 700], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [733, 1485], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1485, 1620], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1620, 2130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1485], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1485, 1620], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1620, 2130], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000830.json b/annotations/task-0000/episode_00000830.json new file mode 100644 index 0000000000000000000000000000000000000000..6c9abac187cb2707e3f88c618ac3fb977c6a31be --- /dev/null +++ b/annotations/task-0000/episode_00000830.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1956, + "valid_duration": [0, 1956] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 486], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [486, 1275], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1275, 1490], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1490, 1956], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1275], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1275, 1490], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1490, 1956], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000940.json b/annotations/task-0000/episode_00000940.json new file mode 100644 index 0000000000000000000000000000000000000000..0c8b7c5c89dad65b04160085d0a899746f4e0e2f --- /dev/null +++ b/annotations/task-0000/episode_00000940.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2462, + "valid_duration": [0, 2462] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 927], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1532, 1929], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1929, 2115], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2115, 2462], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1929], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1929, 2115], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2115, 2462], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000950.json b/annotations/task-0000/episode_00000950.json new file mode 100644 index 0000000000000000000000000000000000000000..e5f6ca44919a4315e54c8fc014950a412288c24f --- /dev/null +++ b/annotations/task-0000/episode_00000950.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1916, + "valid_duration": [0, 1916] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 393], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [393, 1359], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1359, 1566], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1566, 1916], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1359], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1359, 1566], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1566, 1916], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000960.json b/annotations/task-0000/episode_00000960.json new file mode 100644 index 0000000000000000000000000000000000000000..f4b0fccdcce3e774780967a7539449cda1e6ec7c --- /dev/null +++ b/annotations/task-0000/episode_00000960.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2343, + "valid_duration": [0, 2343] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 275], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [275, 1325], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1325, 1667], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1667, 2343], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1325], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1325, 1667], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1667, 2343], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000970.json b/annotations/task-0000/episode_00000970.json new file mode 100644 index 0000000000000000000000000000000000000000..53d62139a0a7f60d02ea006d9cbe22db29efc10a --- /dev/null +++ b/annotations/task-0000/episode_00000970.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2251, + "valid_duration": [0, 2251] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 467], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [467, 1305], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1305, 1687], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1687, 2251], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1305], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1305, 1687], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1687, 2251], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000980.json b/annotations/task-0000/episode_00000980.json new file mode 100644 index 0000000000000000000000000000000000000000..842ca1d7ca39f73eabc2c47d64c80d96eb36e97c --- /dev/null +++ b/annotations/task-0000/episode_00000980.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2414, + "valid_duration": [0, 2414] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1004], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1004, 1738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1738, 2006], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2006, 2414], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1738], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1738, 2006], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2006, 2414], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00000990.json b/annotations/task-0000/episode_00000990.json new file mode 100644 index 0000000000000000000000000000000000000000..01106a2f1e2f17ab2604b3578e7e4519c3795158 --- /dev/null +++ b/annotations/task-0000/episode_00000990.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1714, + "valid_duration": [0, 1714] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 662], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [663, 1211], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1211, 1440], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1440, 1714], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1211], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1211, 1440], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1440, 1714], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001040.json b/annotations/task-0000/episode_00001040.json new file mode 100644 index 0000000000000000000000000000000000000000..34bf8d6e07027aee2ab1f4fa24013c210815021d --- /dev/null +++ b/annotations/task-0000/episode_00001040.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 4260, + "valid_duration": [0, 4260] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_koagbh_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 893], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1200, 2059], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2060, 3135], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3135, 4260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2059], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2060, 3135], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3135, 4260], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001070.json b/annotations/task-0000/episode_00001070.json new file mode 100644 index 0000000000000000000000000000000000000000..f9561677e7f81cbb382c541324e59f705adea4c9 --- /dev/null +++ b/annotations/task-0000/episode_00001070.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2394, + "valid_duration": [0, 2394] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 701], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [701, 1362], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1362, 1890], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1890, 2394], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1362], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1362, 1890], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1890, 2394], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001080.json b/annotations/task-0000/episode_00001080.json new file mode 100644 index 0000000000000000000000000000000000000000..aa6b4e9cbcd48f20ddb856741bb5b7ee3ff5b48a --- /dev/null +++ b/annotations/task-0000/episode_00001080.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 3328, + "valid_duration": [0, 3328] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 918], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [918, 2375], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2375, 2602], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2602, 3328], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2375], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2375, 2602], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2602, 3328], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001110.json b/annotations/task-0000/episode_00001110.json new file mode 100644 index 0000000000000000000000000000000000000000..291d9a7f459cb8781129fb7e73be96206b9d3430 --- /dev/null +++ b/annotations/task-0000/episode_00001110.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1896, + "valid_duration": [0, 1896] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 310], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [311, 1398], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1398, 1556], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1556, 1896], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1398], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1398, 1556], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1556, 1896], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001120.json b/annotations/task-0000/episode_00001120.json new file mode 100644 index 0000000000000000000000000000000000000000..9643d7504ddf01a27da14f3042c25d0324954249 --- /dev/null +++ b/annotations/task-0000/episode_00001120.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 3165, + "valid_duration": [229, 3394] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [229, 1249], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1344, 2359], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2360, 2785], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2786, 3394], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [229, 2359], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2360, 2785], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2786, 3394], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001130.json b/annotations/task-0000/episode_00001130.json new file mode 100644 index 0000000000000000000000000000000000000000..ed084463edbd7e273586f8b398d09d0a1afb5213 --- /dev/null +++ b/annotations/task-0000/episode_00001130.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 3000, + "valid_duration": [0, 3000] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 651], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [900, 1702], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1702, 2313], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2314, 3000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1702], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1702, 2313], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2314, 3000], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001250.json b/annotations/task-0000/episode_00001250.json new file mode 100644 index 0000000000000000000000000000000000000000..78e5523867d2e0272adc5089378ce20292111760 --- /dev/null +++ b/annotations/task-0000/episode_00001250.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2586, + "valid_duration": [0, 2586] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 634], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [635, 1089], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1089, 1693], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1694, 2586], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1089], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1089, 1693], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1694, 2586], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001260.json b/annotations/task-0000/episode_00001260.json new file mode 100644 index 0000000000000000000000000000000000000000..fce1a0a255f89f36ed738a8b279ee39c3845afd4 --- /dev/null +++ b/annotations/task-0000/episode_00001260.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1109, + "valid_duration": [0, 1109] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 339], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [340, 545], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [545, 866], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [867, 1109], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 545], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [545, 866], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [867, 1109], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001270.json b/annotations/task-0000/episode_00001270.json new file mode 100644 index 0000000000000000000000000000000000000000..da90bdf43335d1f39588a16a5ec3b277b07e3705 --- /dev/null +++ b/annotations/task-0000/episode_00001270.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1574, + "valid_duration": [0, 1574] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 369], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [369, 1131], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1131, 1431], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1431, 1574], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1131], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1131, 1431], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1431, 1574], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001280.json b/annotations/task-0000/episode_00001280.json new file mode 100644 index 0000000000000000000000000000000000000000..1667dd542e0c681a213091f802ab9b0f160b474d --- /dev/null +++ b/annotations/task-0000/episode_00001280.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 3531, + "valid_duration": [0, 3531] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 784], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [784, 2738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2738, 3084], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3085, 3531], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2738], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2738, 3084], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3085, 3531], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001290.json b/annotations/task-0000/episode_00001290.json new file mode 100644 index 0000000000000000000000000000000000000000..bfcd9e53608e4f28c63f3f68878330dbe28bb54d --- /dev/null +++ b/annotations/task-0000/episode_00001290.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1740, + "valid_duration": [0, 1740] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 359], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [362, 1145], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1145, 1414], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1414, 1740], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1145], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1145, 1414], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1414, 1740], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001310.json b/annotations/task-0000/episode_00001310.json new file mode 100644 index 0000000000000000000000000000000000000000..1d876aaff135472f15f394f9491fe9cb7e673bf9 --- /dev/null +++ b/annotations/task-0000/episode_00001310.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1655, + "valid_duration": [0, 1655] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 756], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [759, 1260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1262, 1407], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1407, 1655], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1260], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1262, 1407], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1407, 1655], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001320.json b/annotations/task-0000/episode_00001320.json new file mode 100644 index 0000000000000000000000000000000000000000..bf5d82dacbdc4b768bf68e6f48af3f6d89e4c5ce --- /dev/null +++ b/annotations/task-0000/episode_00001320.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1509, + "valid_duration": [0, 1509] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 458], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [459, 935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [936, 1095], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1096, 1509], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 935], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [936, 1095], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1096, 1509], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001330.json b/annotations/task-0000/episode_00001330.json new file mode 100644 index 0000000000000000000000000000000000000000..6d92bcac8460163a6bc361e7e56138d08b097be7 --- /dev/null +++ b/annotations/task-0000/episode_00001330.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2131, + "valid_duration": [29, 2160] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [29, 798], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [830, 1552], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1552, 1806], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1806, 2160], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [29, 1552], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1552, 1806], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1806, 2160], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001440.json b/annotations/task-0000/episode_00001440.json new file mode 100644 index 0000000000000000000000000000000000000000..a6d335a4910344e501e521487680a4892eb42a7d --- /dev/null +++ b/annotations/task-0000/episode_00001440.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1004, + "valid_duration": [0, 1004] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 101], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [108, 703], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [703, 849], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [849, 1004], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 703], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [703, 849], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [849, 1004], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001470.json b/annotations/task-0000/episode_00001470.json new file mode 100644 index 0000000000000000000000000000000000000000..5aae43d39866a0a210f03ca5729003268985ae39 --- /dev/null +++ b/annotations/task-0000/episode_00001470.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1061, + "valid_duration": [0, 1061] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 278], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [278, 618], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [618, 791], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [791, 1061], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 618], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [618, 791], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [791, 1061], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001490.json b/annotations/task-0000/episode_00001490.json new file mode 100644 index 0000000000000000000000000000000000000000..6d4d56b7fa1eeba341888b505d64145f3f4bcfa9 --- /dev/null +++ b/annotations/task-0000/episode_00001490.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1995, + "valid_duration": [0, 1995] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 564], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [564, 1607], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1607, 1790], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1791, 1995], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1607], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1607, 1790], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1791, 1995], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001510.json b/annotations/task-0000/episode_00001510.json new file mode 100644 index 0000000000000000000000000000000000000000..650761ae802e4ca36663a2ffc1c449b33ad15d72 --- /dev/null +++ b/annotations/task-0000/episode_00001510.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1552, + "valid_duration": [0, 1552] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 426], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [426, 934], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [934, 1152], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1152, 1552], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 934], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [934, 1152], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1152, 1552], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001520.json b/annotations/task-0000/episode_00001520.json new file mode 100644 index 0000000000000000000000000000000000000000..7097cfb90e1f1532be3ac2445eaea46fc3037d7b --- /dev/null +++ b/annotations/task-0000/episode_00001520.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1417, + "valid_duration": [0, 1417] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [363, 1018], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1018, 1184], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1184, 1417], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1018], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1018, 1184], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1184, 1417], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001640.json b/annotations/task-0000/episode_00001640.json new file mode 100644 index 0000000000000000000000000000000000000000..0ab4c2a883834c6c05b8f741a39791a46e21636f --- /dev/null +++ b/annotations/task-0000/episode_00001640.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1313, + "valid_duration": [53, 1366] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [53, 170], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [170, 834], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [834, 1002], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1003, 1366], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [53, 834], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [834, 1002], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1003, 1366], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001650.json b/annotations/task-0000/episode_00001650.json new file mode 100644 index 0000000000000000000000000000000000000000..5dcba708accac164b84834fa562b9cf8a10707cd --- /dev/null +++ b/annotations/task-0000/episode_00001650.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1586, + "valid_duration": [0, 1586] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 220], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [220, 1174], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1174, 1333], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1333, 1586], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1174], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1174, 1333], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1333, 1586], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001660.json b/annotations/task-0000/episode_00001660.json new file mode 100644 index 0000000000000000000000000000000000000000..30e4376a9b8c82f7fcd33faddd4b0a196ce0e65d --- /dev/null +++ b/annotations/task-0000/episode_00001660.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1130, + "valid_duration": [0, 1130] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 145], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [146, 709], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [709, 871], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [871, 1130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 709], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [709, 871], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [871, 1130], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001670.json b/annotations/task-0000/episode_00001670.json new file mode 100644 index 0000000000000000000000000000000000000000..cae154746370e3becd242c1b5f7f9edf2f63747e --- /dev/null +++ b/annotations/task-0000/episode_00001670.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1948, + "valid_duration": [0, 1948] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 548], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [549, 1466], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1467, 1698], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1698, 1948], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1466], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1467, 1698], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1698, 1948], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001690.json b/annotations/task-0000/episode_00001690.json new file mode 100644 index 0000000000000000000000000000000000000000..1c975e55def9a48989a16b49773aabad98c64357 --- /dev/null +++ b/annotations/task-0000/episode_00001690.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1268, + "valid_duration": [0, 1268] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 293], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [294, 708], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [709, 934], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [934, 1268], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 708], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [709, 934], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [934, 1268], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001700.json b/annotations/task-0000/episode_00001700.json new file mode 100644 index 0000000000000000000000000000000000000000..0456348ab49c6ba46024e6878410a7c1e846189c --- /dev/null +++ b/annotations/task-0000/episode_00001700.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1611, + "valid_duration": [0, 1611] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 592], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [592, 1128], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1128, 1291], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1291, 1611], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1128], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1128, 1291], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1291, 1611], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001730.json b/annotations/task-0000/episode_00001730.json new file mode 100644 index 0000000000000000000000000000000000000000..8119ff7be99940dda26307688e9bf0ba0196329e --- /dev/null +++ b/annotations/task-0000/episode_00001730.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1434, + "valid_duration": [0, 1434] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 342], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [342, 674], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [674, 1082], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1082, 1434], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 674], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [674, 1082], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1082, 1434], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001740.json b/annotations/task-0000/episode_00001740.json new file mode 100644 index 0000000000000000000000000000000000000000..28c00038cc3be6901b3b7b1ce0f4288b7e2f3396 --- /dev/null +++ b/annotations/task-0000/episode_00001740.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1470, + "valid_duration": [0, 1470] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 638], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [638, 1009], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1009, 1175], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1175, 1470], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1009], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1009, 1175], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1175, 1470], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001830.json b/annotations/task-0000/episode_00001830.json new file mode 100644 index 0000000000000000000000000000000000000000..7181aa4cbf0f4f1e13602862be7c4fa97dd936f0 --- /dev/null +++ b/annotations/task-0000/episode_00001830.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1386, + "valid_duration": [0, 1386] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 405], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [406, 915], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [916, 1168], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1169, 1386], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 915], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [916, 1168], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1169, 1386], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001940.json b/annotations/task-0000/episode_00001940.json new file mode 100644 index 0000000000000000000000000000000000000000..42e18993d5e28234d991b9cf7d959f8459ce2e5e --- /dev/null +++ b/annotations/task-0000/episode_00001940.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1240, + "valid_duration": [70, 1310] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [70, 337], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [337, 870], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [870, 1026], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1027, 1310], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [70, 870], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [870, 1026], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1027, 1310], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001950.json b/annotations/task-0000/episode_00001950.json new file mode 100644 index 0000000000000000000000000000000000000000..bb2026e8dcdb995f4f1a05ff973e9f0edb62609e --- /dev/null +++ b/annotations/task-0000/episode_00001950.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1232, + "valid_duration": [0, 1232] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 364], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [364, 827], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [827, 965], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [965, 1232], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 827], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [827, 965], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [965, 1232], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00001960.json b/annotations/task-0000/episode_00001960.json new file mode 100644 index 0000000000000000000000000000000000000000..8d06efa47d9c109606c0876ad8bae5424b43cb9b --- /dev/null +++ b/annotations/task-0000/episode_00001960.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1901, + "valid_duration": [0, 1901] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 574], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [588, 1194], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1194, 1474], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1475, 1901], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1194], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1194, 1474], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1475, 1901], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002000.json b/annotations/task-0000/episode_00002000.json new file mode 100644 index 0000000000000000000000000000000000000000..5d2ea64e97ecdce518c52767f96e77d21fca50c9 --- /dev/null +++ b/annotations/task-0000/episode_00002000.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2653, + "valid_duration": [0, 2653] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 781], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [781, 1464], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1464, 1915], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1915, 2653], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1464], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1464, 1915], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1915, 2653], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002010.json b/annotations/task-0000/episode_00002010.json new file mode 100644 index 0000000000000000000000000000000000000000..c4291a6c3ce5cc2007d1a6753e60f20faed08065 --- /dev/null +++ b/annotations/task-0000/episode_00002010.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 3226, + "valid_duration": [0, 3226] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 644], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [644, 1826], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1828, 2499], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2499, 3226], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1826], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1828, 2499], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2499, 3226], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002150.json b/annotations/task-0000/episode_00002150.json new file mode 100644 index 0000000000000000000000000000000000000000..0b52087132610c379598dfc2887b9fc77cac607e --- /dev/null +++ b/annotations/task-0000/episode_00002150.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1908, + "valid_duration": [262, 2170] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [262, 722], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [849, 1483], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1488, 1877], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1899, 2170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [262, 1483], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1488, 1877], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1899, 2170], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002160.json b/annotations/task-0000/episode_00002160.json new file mode 100644 index 0000000000000000000000000000000000000000..cde7d23df32c4c07a18fcb07dd8631bbcbfa7deb --- /dev/null +++ b/annotations/task-0000/episode_00002160.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 3581, + "valid_duration": [0, 3581] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2164], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2168, 2590], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2590, 3135], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3135, 3581], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2590], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2590, 3135], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3135, 3581], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002180.json b/annotations/task-0000/episode_00002180.json new file mode 100644 index 0000000000000000000000000000000000000000..4db6193fd232d1ad75488bde1b6f2bb09b0b6c48 --- /dev/null +++ b/annotations/task-0000/episode_00002180.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2580, + "valid_duration": [0, 2580] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1434], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1434, 1971], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1971, 2259], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2260, 2580], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1971], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1971, 2259], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2260, 2580], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002190.json b/annotations/task-0000/episode_00002190.json new file mode 100644 index 0000000000000000000000000000000000000000..e93364f724ac9ba643148566bfff2c47bd6f7d49 --- /dev/null +++ b/annotations/task-0000/episode_00002190.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2692, + "valid_duration": [0, 2692] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 881], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1424, 2127], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2127, 2461], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2462, 2692], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2127], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2127, 2461], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2462, 2692], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002540.json b/annotations/task-0000/episode_00002540.json new file mode 100644 index 0000000000000000000000000000000000000000..92f6716fdd7835dab2eaf49ea4d733a3f4adab24 --- /dev/null +++ b/annotations/task-0000/episode_00002540.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1327, + "valid_duration": [0, 1327] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 161], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [162, 958], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [958, 1065], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1066, 1327], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 958], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [958, 1065], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1066, 1327], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002550.json b/annotations/task-0000/episode_00002550.json new file mode 100644 index 0000000000000000000000000000000000000000..d611e45bab8268fc5ee852f533131684afc3224b --- /dev/null +++ b/annotations/task-0000/episode_00002550.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2030, + "valid_duration": [73, 2103] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [73, 663], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [663, 1526], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1527, 1705], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1705, 2103], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [73, 1526], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1527, 1705], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1705, 2103], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002560.json b/annotations/task-0000/episode_00002560.json new file mode 100644 index 0000000000000000000000000000000000000000..5c88e588c7bc5ba4bec7ff6b644face7ca40ba7c --- /dev/null +++ b/annotations/task-0000/episode_00002560.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1782, + "valid_duration": [0, 1782] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 198], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [198, 1130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1131, 1346], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1346, 1782], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1130], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1131, 1346], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1346, 1782], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002580.json b/annotations/task-0000/episode_00002580.json new file mode 100644 index 0000000000000000000000000000000000000000..747e1133d397c80999869994cf53febc917872fd --- /dev/null +++ b/annotations/task-0000/episode_00002580.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2530, + "valid_duration": [0, 2530] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 284], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [284, 1775], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1775, 2026], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2026, 2530], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1775], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1775, 2026], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2026, 2530], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002590.json b/annotations/task-0000/episode_00002590.json new file mode 100644 index 0000000000000000000000000000000000000000..afac6f0c6ad036dcc361e211b6cdc227be165c86 --- /dev/null +++ b/annotations/task-0000/episode_00002590.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1142, + "valid_duration": [0, 1142] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 328], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [328, 602], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [602, 870], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [870, 1142], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 602], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [602, 870], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [870, 1142], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002600.json b/annotations/task-0000/episode_00002600.json new file mode 100644 index 0000000000000000000000000000000000000000..8db57c9d65879926dd45a69c1fb97ffd9db32345 --- /dev/null +++ b/annotations/task-0000/episode_00002600.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1647, + "valid_duration": [0, 1647] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 402], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [402, 995], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [995, 1265], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1265, 1647], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 995], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [995, 1265], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1265, 1647], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002610.json b/annotations/task-0000/episode_00002610.json new file mode 100644 index 0000000000000000000000000000000000000000..40b368d0dc5a2f374e0e8e05343530fcd7b84a5b --- /dev/null +++ b/annotations/task-0000/episode_00002610.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1889, + "valid_duration": [0, 1889] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 585], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [585, 1151], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1151, 1447], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1447, 1889], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1151], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1151, 1447], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1447, 1889], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002620.json b/annotations/task-0000/episode_00002620.json new file mode 100644 index 0000000000000000000000000000000000000000..af56a11befac96f84c52d3b4a5768478324319ca --- /dev/null +++ b/annotations/task-0000/episode_00002620.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1975, + "valid_duration": [0, 1975] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 111], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [118, 1407], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1407, 1671], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1677, 1975], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1407], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1407, 1671], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1677, 1975], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002630.json b/annotations/task-0000/episode_00002630.json new file mode 100644 index 0000000000000000000000000000000000000000..b17772ee821fc71aef6c8bc7fc39342a1a0b6dcd --- /dev/null +++ b/annotations/task-0000/episode_00002630.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1195, + "valid_duration": [0, 1195] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 280], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [280, 873], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [873, 1026], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1027, 1195], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 873], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [873, 1026], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1027, 1195], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002740.json b/annotations/task-0000/episode_00002740.json new file mode 100644 index 0000000000000000000000000000000000000000..ffc32a2bfabf2ede8d1fb305bd148dd7126afe19 --- /dev/null +++ b/annotations/task-0000/episode_00002740.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1191, + "valid_duration": [0, 1191] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 116], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [116, 603], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [604, 910], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [911, 1191], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 603], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [604, 910], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [911, 1191], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002760.json b/annotations/task-0000/episode_00002760.json new file mode 100644 index 0000000000000000000000000000000000000000..3ca66aed454704059eda8ebde924bf149cd9a2a4 --- /dev/null +++ b/annotations/task-0000/episode_00002760.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1283, + "valid_duration": [0, 1283] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 336], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [336, 917], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [918, 1043], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1044, 1283], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 917], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [918, 1043], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1044, 1283], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002790.json b/annotations/task-0000/episode_00002790.json new file mode 100644 index 0000000000000000000000000000000000000000..c91789e23dd4fa393c5bd12ec63ce706dc03bd1a --- /dev/null +++ b/annotations/task-0000/episode_00002790.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1803, + "valid_duration": [0, 1803] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 273], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [273, 1206], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1206, 1443], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1443, 1803], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1206], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1206, 1443], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1443, 1803], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002800.json b/annotations/task-0000/episode_00002800.json new file mode 100644 index 0000000000000000000000000000000000000000..a75f5ff3003de094a92be14e20fcef02ba739d08 --- /dev/null +++ b/annotations/task-0000/episode_00002800.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1699, + "valid_duration": [0, 1699] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 196], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [196, 1104], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1105, 1292], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1292, 1699], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1104], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1105, 1292], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1292, 1699], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002840.json b/annotations/task-0000/episode_00002840.json new file mode 100644 index 0000000000000000000000000000000000000000..8c438955463dc05228e14c787cfc42d8fb88ee56 --- /dev/null +++ b/annotations/task-0000/episode_00002840.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1746, + "valid_duration": [0, 1746] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 397], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [397, 1122], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1122, 1290], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1290, 1746], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1122], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1122, 1290], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1290, 1746], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002850.json b/annotations/task-0000/episode_00002850.json new file mode 100644 index 0000000000000000000000000000000000000000..d9fc42742dbaeb39a2d3d2e3767a797c54a4295f --- /dev/null +++ b/annotations/task-0000/episode_00002850.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1318, + "valid_duration": [0, 1318] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 364], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [366, 841], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [841, 1007], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1007, 1318], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 841], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [841, 1007], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1007, 1318], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00002880.json b/annotations/task-0000/episode_00002880.json new file mode 100644 index 0000000000000000000000000000000000000000..70a8ed4081fae814289c869b180c84bed1541775 --- /dev/null +++ b/annotations/task-0000/episode_00002880.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 1323, + "valid_duration": [0, 1323] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 228], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [229, 711], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [711, 1034], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1034, 1323], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 711], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [711, 1034], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1034, 1323], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0000/episode_00003000.json b/annotations/task-0000/episode_00003000.json new file mode 100644 index 0000000000000000000000000000000000000000..9a63c67b291a61fe8d716c09798ebd853f68726c --- /dev/null +++ b/annotations/task-0000/episode_00003000.json @@ -0,0 +1,93 @@ +{ + "task_name": "turning on radio", + "data_folder": "", + "meta_data": { + "task_duration": 2262, + "valid_duration": [0, 2262] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["radio_89"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 460], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [461, 1713], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [67], + "skill_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1728, 1873], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1873, 2262], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1713], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [67], + "primitive_description": ["press"], + "object_id": [["radio_89"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1728, 1873], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["radio_89", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["radio_89"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [1873, 2262], + "skill_idxes": [3] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170030.json b/annotations/task-0017/episode_00170030.json new file mode 100644 index 0000000000000000000000000000000000000000..dc5af99d28bb77b511706a2ba9180d40e26111af --- /dev/null +++ b/annotations/task-0017/episode_00170030.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7740, + "valid_duration": [0, 7740] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 860], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [861, 1965], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1966, 2778], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2778, 3015], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3046, 3663], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3663, 4794], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4794, 5469], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5470, 5883], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6004, 7356], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7357, 7740], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1965], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]], []], + "frame_duration": [1966, 5883], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6004, 7740], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170040.json b/annotations/task-0017/episode_00170040.json new file mode 100644 index 0000000000000000000000000000000000000000..b910f855d70e1e468db52e48e0dd20ea63a5170a --- /dev/null +++ b/annotations/task-0017/episode_00170040.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7050, + "valid_duration": [0, 7050] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 84], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [84, 1428], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1431, 1940], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1940, 2252], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2252, 3100], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3100, 4326], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4357, 4877], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4878, 5575], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5575, 6713], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6714, 7050], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1428], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [1431, 5575], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5575, 7050], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170050.json b/annotations/task-0017/episode_00170050.json new file mode 100644 index 0000000000000000000000000000000000000000..86b1eb35076fe2e47de8fa06243b76ef9e29ffa3 --- /dev/null +++ b/annotations/task-0017/episode_00170050.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7688, + "valid_duration": [22, 7710] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [22, 940], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [941, 2107], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2107, 2672], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_268", "right", "left"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2672, 2901], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2901, 3524], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3524, 4807], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4808, 5485], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5486, 5707], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5898, 7350], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7350, 7710], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [22, 2107], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [2107, 5707], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5898, 7710], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170060.json b/annotations/task-0017/episode_00170060.json new file mode 100644 index 0000000000000000000000000000000000000000..a37649b547b5da2b08341123e42a8035b6510132 --- /dev/null +++ b/annotations/task-0017/episode_00170060.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7876, + "valid_duration": [374, 8250] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [374, 1230], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1260, 2500], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2501, 3126], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3127, 3361], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3361, 4045], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4045, 5461], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5491, 6062], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6063, 6655], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6655, 7853], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7853, 8250], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [374, 2500], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]], []], + "frame_duration": [2501, 6655], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6655, 8250], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170090.json b/annotations/task-0017/episode_00170090.json new file mode 100644 index 0000000000000000000000000000000000000000..59a438067208e1a4dd0cdb23e18ce3a51b41c32c --- /dev/null +++ b/annotations/task-0017/episode_00170090.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7920, + "valid_duration": [0, 7920] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1095], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1095, 2280], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2280, 2820], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2820, 3033], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3036, 3639], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3639, 4907], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4907, 5640], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5640, 6222], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6224, 7345], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7347, 7920], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2280], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]], []], + "frame_duration": [2280, 6222], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6224, 7920], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170100.json b/annotations/task-0017/episode_00170100.json new file mode 100644 index 0000000000000000000000000000000000000000..3467f25ae2f6e4eab4d58cd571a5f1ef40f4dce7 --- /dev/null +++ b/annotations/task-0017/episode_00170100.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7551, + "valid_duration": [129, 7680] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [129, 916], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [916, 2340], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2340, 3260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3261, 3540], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3540, 3957], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3957, 5061], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5064, 5519], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5519, 5562], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5562, 7125], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7125, 7680], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [129, 2340], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]], []], + "frame_duration": [2340, 5562], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5562, 7680], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170130.json b/annotations/task-0017/episode_00170130.json new file mode 100644 index 0000000000000000000000000000000000000000..9185ff6d596e6ebd28fc8c97244a0bd7a02b8f05 --- /dev/null +++ b/annotations/task-0017/episode_00170130.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 8762, + "valid_duration": [0, 8762] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1110], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1119, 2459], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2459, 3192], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_268", "right", "left"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3192, 3628], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3629, 4578], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4579, 5796], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5798, 6552], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6553, 7023], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7025, 8221], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8222, 8762], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2459], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "high_level"]], []], + "frame_duration": [2459, 7023], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7025, 8762], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170240.json b/annotations/task-0017/episode_00170240.json new file mode 100644 index 0000000000000000000000000000000000000000..2b009917a5d939f279c23622c7cf367d00faa8ee --- /dev/null +++ b/annotations/task-0017/episode_00170240.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 10813, + "valid_duration": [247, 11060] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [247, 1112], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1112, 2908], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2909, 3512], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3512, 3960], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3961, 4567], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4567, 6205], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6205, 6840], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6840, 7803], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7803, 9506], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9507, 11060], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [247, 2908], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [2909, 7803], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7803, 11060], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170250.json b/annotations/task-0017/episode_00170250.json new file mode 100644 index 0000000000000000000000000000000000000000..084dd8256001f14a08f826340151e7cb0dcea8a7 --- /dev/null +++ b/annotations/task-0017/episode_00170250.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 11619, + "valid_duration": [129, 11748] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [129, 1614], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1614, 3488], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3546, 4302], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4302, 4584], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4584, 5016], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5055, 7236], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7236, 8052], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8052, 8874], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8874, 10894], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10894, 11748], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [129, 3488], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]], []], + "frame_duration": [3546, 8874], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8874, 11748], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170270.json b/annotations/task-0017/episode_00170270.json new file mode 100644 index 0000000000000000000000000000000000000000..51831eaf9dbc87bc92d7c777a4ea1c14cdba341c --- /dev/null +++ b/annotations/task-0017/episode_00170270.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 6990, + "valid_duration": [30, 7020] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 315], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [315, 1839], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1839, 2289], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2289, 2535], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2536, 2868], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2898, 4045], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4046, 4832], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4853, 5397], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5397, 6684], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6684, 7020], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1839], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]], []], + "frame_duration": [1839, 5397], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5397, 7020], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170290.json b/annotations/task-0017/episode_00170290.json new file mode 100644 index 0000000000000000000000000000000000000000..0b0c43fd017734bc954753653796b7f6f9aeadd8 --- /dev/null +++ b/annotations/task-0017/episode_00170290.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 6579, + "valid_duration": [0, 6579] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 840], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [840, 1932], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1932, 2432], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2433, 2625], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2625, 3085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3085, 4198], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4198, 4728], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4729, 5171], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5171, 6312], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6312, 6579], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1932], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]], []], + "frame_duration": [1932, 5171], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5171, 6579], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170320.json b/annotations/task-0017/episode_00170320.json new file mode 100644 index 0000000000000000000000000000000000000000..c626af4411a17e9dd8741773ec8b9e0b6e555d0a --- /dev/null +++ b/annotations/task-0017/episode_00170320.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 6908, + "valid_duration": [0, 6908] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 793], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [794, 1846], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1846, 2364], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_268", "right", "left"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2365, 2571], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2571, 3019], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3020, 4158], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4158, 4641], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4659, 5193], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5193, 6542], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6548, 6908], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1846], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [1846, 5193], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5193, 6908], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170330.json b/annotations/task-0017/episode_00170330.json new file mode 100644 index 0000000000000000000000000000000000000000..9a093b648c46bafc3a1fe99b998ae5102410b7d0 --- /dev/null +++ b/annotations/task-0017/episode_00170330.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 11638, + "valid_duration": [129, 11767] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [129, 1582], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1582, 3153], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3153, 4288], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4335, 4665], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [4665, 5327], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5327, 7282], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7282, 7905], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7905, 8852], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8876, 10575], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10576, 11767], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [129, 3153], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [3153, 8852], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8876, 11767], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170460.json b/annotations/task-0017/episode_00170460.json new file mode 100644 index 0000000000000000000000000000000000000000..b4209a3d11a37b82e990278cfff88f4b496dede0 --- /dev/null +++ b/annotations/task-0017/episode_00170460.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 6660, + "valid_duration": [0, 6660] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 118], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [119, 1484], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1681, 2025], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2025, 2220], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2221, 2689], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2689, 3889], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3889, 4484], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4485, 4697], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4860, 6369], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6376, 6660], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1484], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]], []], + "frame_duration": [1681, 4697], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4860, 6660], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170470.json b/annotations/task-0017/episode_00170470.json new file mode 100644 index 0000000000000000000000000000000000000000..12d31b860383a6ce3ea3c84bf7df45449618997b --- /dev/null +++ b/annotations/task-0017/episode_00170470.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 8040, + "valid_duration": [30, 8070] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1102], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1102, 2558], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2558, 3248], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3251, 3501], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3503, 4350], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4350, 5536], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5536, 5995], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5995, 6433], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6433, 7758], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7759, 8070], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2558], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]], []], + "frame_duration": [2558, 6433], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6433, 8070], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170480.json b/annotations/task-0017/episode_00170480.json new file mode 100644 index 0000000000000000000000000000000000000000..2c21995925082ba0d3bd5dcccc06447f4872dcae --- /dev/null +++ b/annotations/task-0017/episode_00170480.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 6120, + "valid_duration": [30, 6150] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 809], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [809, 1527], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1527, 2320], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_268", "right", "left"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2320, 2577], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2577, 2830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2831, 3845], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3845, 4162], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4162, 4214], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4214, 5919], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5919, 6150], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1527], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]], []], + "frame_duration": [1527, 4214], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4214, 6150], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170500.json b/annotations/task-0017/episode_00170500.json new file mode 100644 index 0000000000000000000000000000000000000000..e3948054086f05a185b77364996b6e2c2902cfeb --- /dev/null +++ b/annotations/task-0017/episode_00170500.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7380, + "valid_duration": [0, 7380] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 837], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [840, 2189], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2189, 2773], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2776, 3018], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3027, 3537], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3537, 4644], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4653, 5370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5370, 5941], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5941, 7074], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7078, 7380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2189], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]], []], + "frame_duration": [2189, 5941], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5941, 7380], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170510.json b/annotations/task-0017/episode_00170510.json new file mode 100644 index 0000000000000000000000000000000000000000..a57a829239192da0c7153445b052cd16c3ce6ba6 --- /dev/null +++ b/annotations/task-0017/episode_00170510.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 12177, + "valid_duration": [0, 12177] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1075], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1075, 2842], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2842, 4035], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_268", "right", "left"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4035, 4593], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [4593, 5632], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5632, 7838], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7838, 8648], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8648, 9416], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9416, 10931], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10931, 12177], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2842], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]], []], + "frame_duration": [2842, 9416], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9416, 12177], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170660.json b/annotations/task-0017/episode_00170660.json new file mode 100644 index 0000000000000000000000000000000000000000..2964cd22fdf5efde9bd8c1c36820657940210fd3 --- /dev/null +++ b/annotations/task-0017/episode_00170660.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 9584, + "valid_duration": [7, 9591] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7, 1187], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1187, 2775], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2775, 3731], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3731, 4650], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4650, 6060], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6060, 6691], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6691, 7082], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7082, 9212], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9212, 9591], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7, 2775], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [2775, 7082], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7082, 9591], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170670.json b/annotations/task-0017/episode_00170670.json new file mode 100644 index 0000000000000000000000000000000000000000..53bbd6d0ffd763e5ad20c509767d3dbac7c80147 --- /dev/null +++ b/annotations/task-0017/episode_00170670.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 11404, + "valid_duration": [85, 11489] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [85, 1525], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1525, 2850], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2850, 3681], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3681, 4102], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [4102, 4824], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4824, 6654], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6654, 7260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7260, 8179], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8179, 9859], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9859, 11489], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [85, 2850], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [2850, 8179], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8179, 11489], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170700.json b/annotations/task-0017/episode_00170700.json new file mode 100644 index 0000000000000000000000000000000000000000..d3a0e25cf8b6407fc0f03bd8d51692d0f3c80698 --- /dev/null +++ b/annotations/task-0017/episode_00170700.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7500, + "valid_duration": [0, 7500] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 792], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [792, 2043], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2043, 2552], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_268", "right", "left"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2565, 2850], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2850, 3840], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3840, 5070], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5070, 5640], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5640, 5940], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5940, 7170], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7170, 7500], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2043], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [2043, 5940], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5940, 7500], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170730.json b/annotations/task-0017/episode_00170730.json new file mode 100644 index 0000000000000000000000000000000000000000..f39f0f833a6cd5cd94eab2b82da2dd9354fd6c1a --- /dev/null +++ b/annotations/task-0017/episode_00170730.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7821, + "valid_duration": [9, 7830] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9, 1175], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1180, 2468], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2468, 3080], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_268", "right", "left"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3082, 3394], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3394, 3840], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3840, 5060], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5060, 5762], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5762, 6200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6200, 7442], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7442, 7830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9, 2468], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [2468, 6200], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6200, 7830], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170800.json b/annotations/task-0017/episode_00170800.json new file mode 100644 index 0000000000000000000000000000000000000000..6a0f293728d2e2dd92bc4bd146cfd32f58388635 --- /dev/null +++ b/annotations/task-0017/episode_00170800.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 11890, + "valid_duration": [170, 12060] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [170, 1655], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1656, 3749], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3749, 4740], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_268", "right", "left"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4740, 5163], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [5163, 5694], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5694, 7600], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7600, 8232], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8232, 9079], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9079, 10504], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10504, 12060], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [170, 3749], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [3749, 9079], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9079, 12060], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170810.json b/annotations/task-0017/episode_00170810.json new file mode 100644 index 0000000000000000000000000000000000000000..0463bb94deb20ca8af5f4e938cafbd40883b5a42 --- /dev/null +++ b/annotations/task-0017/episode_00170810.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7380, + "valid_duration": [0, 7380] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 713], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [714, 1905], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1905, 2409], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_268", "right", "left"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2416, 2695], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2695, 3366], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3366, 4737], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4737, 5318], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5318, 5625], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5625, 7083], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7083, 7380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1905], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [1905, 5625], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5625, 7380], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170820.json b/annotations/task-0017/episode_00170820.json new file mode 100644 index 0000000000000000000000000000000000000000..e77d43860674775bdaee8fcbb0c39f6dfc9e10a9 --- /dev/null +++ b/annotations/task-0017/episode_00170820.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7710, + "valid_duration": [0, 7710] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 855], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [855, 2040], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2040, 2575], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_268", "right", "left"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2575, 2800], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2802, 3191], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3191, 4867], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4868, 5388], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5388, 6005], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6006, 7357], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7358, 7710], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2040], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [2040, 6005], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6006, 7710], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170960.json b/annotations/task-0017/episode_00170960.json new file mode 100644 index 0000000000000000000000000000000000000000..f6de5d1582a2549e96edbce73474fb3939fc75da --- /dev/null +++ b/annotations/task-0017/episode_00170960.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7868, + "valid_duration": [0, 7868] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 763], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [763, 2201], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2202, 2903], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2905, 3180], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3180, 3749], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3749, 5031], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5031, 5663], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5663, 6206], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6206, 7566], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7566, 7868], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2201], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [2202, 6206], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6206, 7868], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170970.json b/annotations/task-0017/episode_00170970.json new file mode 100644 index 0000000000000000000000000000000000000000..2c72870ed414e803522fd5f9c736cc55b42e25ab --- /dev/null +++ b/annotations/task-0017/episode_00170970.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 10419, + "valid_duration": [0, 10419] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 100], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [100, 2306], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2306, 3202], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_268", "right", "left"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3202, 3571], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3571, 4051], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4051, 5796], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5796, 6602], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6602, 7200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7201, 8693], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8820, 10419], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2306], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]], []], + "frame_duration": [2306, 7200], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7201, 10419], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00170980.json b/annotations/task-0017/episode_00170980.json new file mode 100644 index 0000000000000000000000000000000000000000..1c2aa6ae459c0e930d136d06a48d7c02bf766f10 --- /dev/null +++ b/annotations/task-0017/episode_00170980.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7095, + "valid_duration": [0, 7095] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 459], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [461, 1467], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1467, 1983], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_268", "right", "left"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1989, 2239], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2240, 3306], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3306, 4486], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4486, 5071], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5071, 5466], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5484, 6828], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6828, 7095], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1467], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]], []], + "frame_duration": [1467, 5466], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5484, 7095], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171070.json b/annotations/task-0017/episode_00171070.json new file mode 100644 index 0000000000000000000000000000000000000000..775ce4ae43e253e3eb6a7fdec0b3e35dfb62a8c4 --- /dev/null +++ b/annotations/task-0017/episode_00171070.json @@ -0,0 +1,152 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 8425, + "valid_duration": [0, 8425] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 862], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [862, 2740], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2740, 3493], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3493, 4373], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4373, 5896], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5896, 7444], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7444, 7968], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7968, 8425], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2740], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [2740, 4373], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4373, 5896], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5896, 8425], + "skill_idxes": [5, 6, 7] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171110.json b/annotations/task-0017/episode_00171110.json new file mode 100644 index 0000000000000000000000000000000000000000..a31d066300d488f82781e04e2bb98a2f2c857a93 --- /dev/null +++ b/annotations/task-0017/episode_00171110.json @@ -0,0 +1,152 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 9312, + "valid_duration": [0, 9312] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 860], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [860, 2805], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2805, 4216], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [4216, 5076], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5076, 6526], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6526, 8022], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8022, 8527], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8527, 9312], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2805], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [2805, 5076], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5076, 6526], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6526, 9312], + "skill_idxes": [5, 6, 7] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171210.json b/annotations/task-0017/episode_00171210.json new file mode 100644 index 0000000000000000000000000000000000000000..fb098698f9c1fcd6bfeb757eabd58914918c72a3 --- /dev/null +++ b/annotations/task-0017/episode_00171210.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 12443, + "valid_duration": [37, 12480] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [37, 1089], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1089, 3183], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3183, 4680], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [4680, 5868], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5868, 7656], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7656, 8448], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8448, 9114], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9114, 11718], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11718, 12480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [37, 3183], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [3183, 9114], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9114, 12480], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171260.json b/annotations/task-0017/episode_00171260.json new file mode 100644 index 0000000000000000000000000000000000000000..c8d06abf8080b96daa0e9022149329912a390290 --- /dev/null +++ b/annotations/task-0017/episode_00171260.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 13038, + "valid_duration": [0, 13038] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1332], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1332, 4512], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [4512, 5640], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [5640, 7041], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7041, 8946], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8946, 9761], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9761, 10237], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10237, 12425], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12425, 13038], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4512], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], ["coffee_table_rlsebe_0", "fridge_dszchb_0"]], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [4512, 10237], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10237, 13038], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171270.json b/annotations/task-0017/episode_00171270.json new file mode 100644 index 0000000000000000000000000000000000000000..9ba850bc7ee9ee97769dd31775a4cc3fbe41aee3 --- /dev/null +++ b/annotations/task-0017/episode_00171270.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 11880, + "valid_duration": [60, 11940] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1538], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1538, 3911], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3911, 5147], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [5147, 5852], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5852, 7589], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7589, 8202], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8203, 8790], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8790, 11245], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11245, 11940], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 3911], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]], []], + "frame_duration": [3911, 8790], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8790, 11940], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171280.json b/annotations/task-0017/episode_00171280.json new file mode 100644 index 0000000000000000000000000000000000000000..19b2a6afb95dc61ad32bbd0c941b19f4910e58f2 --- /dev/null +++ b/annotations/task-0017/episode_00171280.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 12705, + "valid_duration": [75, 12780] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [75, 1584], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1584, 3344], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3344, 4621], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [4621, 5730], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5731, 7463], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7463, 8244], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8244, 9079], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9080, 11740], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11740, 12780], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [75, 3344], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [3344, 9079], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9080, 12780], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171310.json b/annotations/task-0017/episode_00171310.json new file mode 100644 index 0000000000000000000000000000000000000000..6f720630a873d6ddd8b06843767318a1598c299a --- /dev/null +++ b/annotations/task-0017/episode_00171310.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 13339, + "valid_duration": [59, 13398] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [59, 1425], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1425, 3631], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3631, 5166], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [5167, 6681], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6681, 8645], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8647, 9541], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9541, 10519], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10522, 12841], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12845, 13398], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [59, 3631], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]], []], + "frame_duration": [3631, 10519], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10522, 13398], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171320.json b/annotations/task-0017/episode_00171320.json new file mode 100644 index 0000000000000000000000000000000000000000..8263710a5d11343ba6251318605ed0f004298a5d --- /dev/null +++ b/annotations/task-0017/episode_00171320.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 13140, + "valid_duration": [0, 13140] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 868], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [868, 3821], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3821, 4926], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [4926, 6142], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6142, 8385], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8385, 9127], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9127, 9695], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9695, 12380], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12380, 13140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3821], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [3821, 9695], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9695, 13140], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171440.json b/annotations/task-0017/episode_00171440.json new file mode 100644 index 0000000000000000000000000000000000000000..467aea4c82ce5209a88f2dff41b967d3479cd45d --- /dev/null +++ b/annotations/task-0017/episode_00171440.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 10161, + "valid_duration": [84, 10245] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [84, 1374], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1374, 3060], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3060, 4230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4230, 4782], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4782, 6088], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6088, 7153], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7153, 7627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7627, 9831], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9831, 10245], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [84, 3060], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]], []], + "frame_duration": [3060, 7627], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7627, 10245], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171530.json b/annotations/task-0017/episode_00171530.json new file mode 100644 index 0000000000000000000000000000000000000000..c28c29b421be4d84f5c3bd595d9b8006abcf879b --- /dev/null +++ b/annotations/task-0017/episode_00171530.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 10442, + "valid_duration": [0, 10442] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1006], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1006, 2679], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2679, 3924], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3924, 5325], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5325, 6469], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6469, 7104], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7104, 7429], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7429, 9654], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9654, 10442], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2679], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]], []], + "frame_duration": [2679, 7429], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7429, 10442], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171630.json b/annotations/task-0017/episode_00171630.json new file mode 100644 index 0000000000000000000000000000000000000000..035be0eb6596e3e592f047c10d9af7867c7c8c40 --- /dev/null +++ b/annotations/task-0017/episode_00171630.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 8310, + "valid_duration": [0, 8310] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1029], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1031, 2072], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2072, 3068], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3068, 3632], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3634, 4781], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4781, 5633], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5633, 5934], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5934, 7842], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7842, 8310], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2072], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [2072, 5934], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5934, 8310], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171640.json b/annotations/task-0017/episode_00171640.json new file mode 100644 index 0000000000000000000000000000000000000000..3af74093e1fa35ea723bd5a098882f5463093af5 --- /dev/null +++ b/annotations/task-0017/episode_00171640.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7752, + "valid_duration": [39, 7791] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 134], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [135, 2141], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2141, 3065], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3065, 3576], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3576, 5016], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5016, 5322], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5329, 5693], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5693, 7512], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7512, 7791], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 2141], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]], []], + "frame_duration": [2141, 5693], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5693, 7791], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171660.json b/annotations/task-0017/episode_00171660.json new file mode 100644 index 0000000000000000000000000000000000000000..bf81292155cb0c7b70dd54904237edf4735c8578 --- /dev/null +++ b/annotations/task-0017/episode_00171660.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 8000, + "valid_duration": [39, 8039] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 771], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [771, 2305], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2305, 3180], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3210, 3852], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3852, 5011], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5011, 5554], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5554, 6030], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6030, 7625], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7625, 8039], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 2305], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [2305, 6030], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6030, 8039], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171680.json b/annotations/task-0017/episode_00171680.json new file mode 100644 index 0000000000000000000000000000000000000000..fde6447c8376778c90bebbb7d2435a5fd8393ba6 --- /dev/null +++ b/annotations/task-0017/episode_00171680.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 9272, + "valid_duration": [43, 9315] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [43, 863], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [863, 2708], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2708, 3548], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3548, 4441], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4441, 5673], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5673, 6136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6136, 6688], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6688, 8945], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8945, 9315], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [43, 2708], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [2708, 6688], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6688, 9315], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171700.json b/annotations/task-0017/episode_00171700.json new file mode 100644 index 0000000000000000000000000000000000000000..b500f969598d041c0480274fa89c8b81ac259c64 --- /dev/null +++ b/annotations/task-0017/episode_00171700.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 9444, + "valid_duration": [60, 9504] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 149], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [149, 2405], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2405, 3333], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3333, 4028], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4050, 5409], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5409, 6263], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6264, 6697], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6698, 8700], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8700, 9504], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 2405], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]], []], + "frame_duration": [2405, 6697], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6698, 9504], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171720.json b/annotations/task-0017/episode_00171720.json new file mode 100644 index 0000000000000000000000000000000000000000..605ae2281bd6d61350feaa25fba625964ecb67b5 --- /dev/null +++ b/annotations/task-0017/episode_00171720.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 11516, + "valid_duration": [66, 11582] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [66, 1475], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1475, 3847], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3847, 5218], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [5218, 5988], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5988, 7413], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7413, 8169], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8169, 8563], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8563, 10863], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10863, 11582], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [66, 3847], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [3847, 8563], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8563, 11582], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171730.json b/annotations/task-0017/episode_00171730.json new file mode 100644 index 0000000000000000000000000000000000000000..ac567acf851a05f539f12d2b88b1d03e533ac3fa --- /dev/null +++ b/annotations/task-0017/episode_00171730.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 9066, + "valid_duration": [57, 9123] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [57, 772], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [772, 2319], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2319, 3431], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3431, 4188], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4188, 5382], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5382, 6085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6085, 6521], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6521, 8469], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8469, 9123], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [57, 2319], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [2319, 6521], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6521, 9123], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171810.json b/annotations/task-0017/episode_00171810.json new file mode 100644 index 0000000000000000000000000000000000000000..5677eff874c6a7811d59775f1e2f47dba8c1bbe3 --- /dev/null +++ b/annotations/task-0017/episode_00171810.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 10542, + "valid_duration": [60, 10602] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1219], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1219, 3015], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3015, 4253], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [4265, 5453], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5453, 6854], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6854, 7556], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7556, 7950], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7950, 10073], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10073, 10602], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 3015], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]], []], + "frame_duration": [3015, 7950], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7950, 10602], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171830.json b/annotations/task-0017/episode_00171830.json new file mode 100644 index 0000000000000000000000000000000000000000..b46c6a74812c3a842e9b7d095f1478cb6d5172a1 --- /dev/null +++ b/annotations/task-0017/episode_00171830.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 10146, + "valid_duration": [0, 10146] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 873], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [879, 2485], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2485, 3813], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3813, 4922], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4922, 6337], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6337, 7278], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7281, 7642], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7648, 9704], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9704, 10146], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2485], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [2485, 7642], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7648, 10146], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171940.json b/annotations/task-0017/episode_00171940.json new file mode 100644 index 0000000000000000000000000000000000000000..0d3a6fe09bd99ed971fc75975269cd77c7b455e8 --- /dev/null +++ b/annotations/task-0017/episode_00171940.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 8778, + "valid_duration": [57, 8835] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [57, 975], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [975, 2181], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2181, 3119], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3119, 4152], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4152, 5568], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5568, 5945], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5945, 6497], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6503, 8418], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8418, 8835], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [57, 2181], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]], []], + "frame_duration": [2181, 6497], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6503, 8835], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171950.json b/annotations/task-0017/episode_00171950.json new file mode 100644 index 0000000000000000000000000000000000000000..e0207dda3879eb666cce412cd13df72aeecea7ed --- /dev/null +++ b/annotations/task-0017/episode_00171950.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 9404, + "valid_duration": [52, 9456] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [52, 1204], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1204, 2657], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2657, 3733], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3733, 4712], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4712, 5893], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5893, 6519], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6519, 6845], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6845, 8928], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8928, 9456], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [52, 2657], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [2657, 6845], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6845, 9456], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171970.json b/annotations/task-0017/episode_00171970.json new file mode 100644 index 0000000000000000000000000000000000000000..a60c9babec604539d77e8b2e2211a9d267404a63 --- /dev/null +++ b/annotations/task-0017/episode_00171970.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 8161, + "valid_duration": [40, 8201] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 1080], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1080, 2415], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2415, 3369], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3369, 4044], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4044, 5204], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5204, 5682], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5682, 5939], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5939, 7660], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7660, 8201], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 2415], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [2415, 5939], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5939, 8201], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171980.json b/annotations/task-0017/episode_00171980.json new file mode 100644 index 0000000000000000000000000000000000000000..ddfa03fcc9faeef328115c6064437eb76bd324de --- /dev/null +++ b/annotations/task-0017/episode_00171980.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 9405, + "valid_duration": [0, 9405] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1051], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1051, 2283], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2283, 3571], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3571, 4215], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4215, 5583], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5583, 6148], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6148, 6475], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6475, 8634], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8634, 9405], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2283], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]], []], + "frame_duration": [2283, 6475], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6475, 9405], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00171990.json b/annotations/task-0017/episode_00171990.json new file mode 100644 index 0000000000000000000000000000000000000000..e7f4ecabdb1caf34d0cfc686640740c164fe603c --- /dev/null +++ b/annotations/task-0017/episode_00171990.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 7910, + "valid_duration": [117, 8027] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [117, 1072], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1072, 2151], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2151, 2856], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2856, 3322], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3322, 4473], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4473, 5025], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5025, 5418], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5418, 7528], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7528, 8027], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [117, 2151], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]], []], + "frame_duration": [2151, 5418], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5418, 8027], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00172160.json b/annotations/task-0017/episode_00172160.json new file mode 100644 index 0000000000000000000000000000000000000000..ef48e106caccf8b8e3dbe9e21b293efb34e13eb2 --- /dev/null +++ b/annotations/task-0017/episode_00172160.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 8478, + "valid_duration": [84, 8562] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [84, 877], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [879, 2276], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2276, 2959], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2959, 3292], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3292, 3765], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3765, 5583], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5583, 6034], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6034, 6121], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6121, 7920], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7920, 8562], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [84, 2276], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]], []], + "frame_duration": [2276, 6121], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6121, 8562], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00172190.json b/annotations/task-0017/episode_00172190.json new file mode 100644 index 0000000000000000000000000000000000000000..a2d8c77cd82e3c163b5a75b9ffb8b1beb5d2e337 --- /dev/null +++ b/annotations/task-0017/episode_00172190.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 8208, + "valid_duration": [102, 8310] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [102, 496], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [704, 2022], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2114, 2394], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2394, 2642], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2642, 3305], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3306, 5149], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5159, 5798], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5799, 5998], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5999, 7742], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7742, 8310], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [102, 2022], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [2114, 5998], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5999, 8310], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00172230.json b/annotations/task-0017/episode_00172230.json new file mode 100644 index 0000000000000000000000000000000000000000..534ad759a2829590711b520b8c2c816f5a737438 --- /dev/null +++ b/annotations/task-0017/episode_00172230.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 8831, + "valid_duration": [61, 8892] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [61, 1306], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1484, 2508], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2666, 3091], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_268", "right", "left"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3091, 3322], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3322, 3784], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3785, 5616], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5616, 6322], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6322, 6393], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6393, 8268], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8268, 8892], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [61, 2508], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [2666, 6393], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6393, 8892], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00172380.json b/annotations/task-0017/episode_00172380.json new file mode 100644 index 0000000000000000000000000000000000000000..cea4b5305e15d42e1f6c9f407eabdefffe2e272e --- /dev/null +++ b/annotations/task-0017/episode_00172380.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 11257, + "valid_duration": [67, 11324] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [67, 1625], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1625, 3264], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3512, 3985], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3985, 4335], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [4335, 5267], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5268, 7496], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7496, 8107], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8107, 8279], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8279, 10521], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10561, 11324], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [67, 3264], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [3512, 8279], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8279, 11324], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00172400.json b/annotations/task-0017/episode_00172400.json new file mode 100644 index 0000000000000000000000000000000000000000..a91faf3ba4211345e61d17bd8899fd25f49dc2e8 --- /dev/null +++ b/annotations/task-0017/episode_00172400.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 9660, + "valid_duration": [60, 9720] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 360], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [360, 1915], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2066, 2582], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_268", "right", "left"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2583, 2869], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2869, 3325], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3355, 5664], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5667, 6421], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6421, 6667], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6910, 9117], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9118, 9720], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1915], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]], []], + "frame_duration": [2066, 6667], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6910, 9720], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00172560.json b/annotations/task-0017/episode_00172560.json new file mode 100644 index 0000000000000000000000000000000000000000..0bfb52ebf20d3d933b3324f55740e62863629509 --- /dev/null +++ b/annotations/task-0017/episode_00172560.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 8009, + "valid_duration": [30, 8039] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 824], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [824, 2790], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2790, 3441], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3441, 3778], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3778, 5145], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5145, 5627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5627, 5848], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5848, 7627], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7627, 8039], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2790], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]], []], + "frame_duration": [2790, 5848], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5848, 8039], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00172570.json b/annotations/task-0017/episode_00172570.json new file mode 100644 index 0000000000000000000000000000000000000000..88db8de57c42a1c320d7e2a108bfa783778bb041 --- /dev/null +++ b/annotations/task-0017/episode_00172570.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 9164, + "valid_duration": [60, 9224] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 933], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [933, 2640], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2640, 3698], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3698, 4974], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4974, 6013], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6013, 6422], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6422, 6750], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6750, 8663], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8663, 9224], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 2640], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]], []], + "frame_duration": [2640, 6750], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6750, 9224], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00172580.json b/annotations/task-0017/episode_00172580.json new file mode 100644 index 0000000000000000000000000000000000000000..5f2acb71a15bd13042b9eda83aef253934a333ff --- /dev/null +++ b/annotations/task-0017/episode_00172580.json @@ -0,0 +1,153 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 8168, + "valid_duration": [45, 8213] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 722], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [722, 2182], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2182, 2913], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2913, 3652], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3655, 4807], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4807, 5263], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5263, 5869], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5869, 7679], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7679, 8213], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 2182], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]], []], + "frame_duration": [2182, 5869], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5869, 8213], + "skill_idxes": [7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00172660.json b/annotations/task-0017/episode_00172660.json new file mode 100644 index 0000000000000000000000000000000000000000..119dd38219a6bf3551c75617ddcadbc1ae475989 --- /dev/null +++ b/annotations/task-0017/episode_00172660.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 10292, + "valid_duration": [63, 10355] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [63, 1395], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1396, 2841], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2841, 3661], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3661, 4055], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4056, 4841], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4841, 6932], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6940, 7571], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7571, 8208], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8208, 9959], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9959, 10355], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [63, 2841], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "high_level"]], []], + "frame_duration": [2841, 8208], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8208, 10355], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00172770.json b/annotations/task-0017/episode_00172770.json new file mode 100644 index 0000000000000000000000000000000000000000..7f34edc9a6ce3927248af544baaf3b2206847cdc --- /dev/null +++ b/annotations/task-0017/episode_00172770.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 10128, + "valid_duration": [0, 10128] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1490], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1698, 2929], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2931, 3745], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3795, 3986], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3987, 4492], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4494, 6604], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6604, 7158], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7158, 7441], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7511, 9352], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9353, 10128], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2929], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]], []], + "frame_duration": [2931, 7441], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7511, 10128], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0017/episode_00172860.json b/annotations/task-0017/episode_00172860.json new file mode 100644 index 0000000000000000000000000000000000000000..f4725fdcdd3578a57b756c2b41534001e017ce99 --- /dev/null +++ b/annotations/task-0017/episode_00172860.json @@ -0,0 +1,165 @@ +{ + "task_name": "bringing water", + "data_folder": "", + "meta_data": { + "task_duration": 8592, + "valid_duration": [0, 8592] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 526], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [526, 1800], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_267", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1800, 2583], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["beer_bottle_267", "right", "left"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2583, 2913], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["beer_bottle_268", "fridge_dszchb_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2913, 3559], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_rlsebe_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3559, 5596], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_267"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5596, 6154], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]], + "manipulating_object_id": ["beer_bottle_268"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6155, 6217], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6217, 8073], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8073, 8592], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1800], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]], + "manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]], []], + "frame_duration": [1800, 6217], + "skill_idxes": [2, 3, 4, 5, 6, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6217, 8592], + "skill_idxes": [8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300010.json b/annotations/task-0030/episode_00300010.json new file mode 100644 index 0000000000000000000000000000000000000000..e4b49cd2ec47e2e5f69709956bb1e3925e7ee04f --- /dev/null +++ b/annotations/task-0030/episode_00300010.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9561, + "valid_duration": [97, 9658] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [97, 173], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [624, 1526], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1705, 1893], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1902, 2148], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2274, 2609], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2855, 3231], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3243, 3739], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3740, 3953], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3961, 5018], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5018, 6504], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6504, 7830], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 11, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7830, 8174], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8186, 8602], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8617, 8775], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8775, 8874], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8875, 9299], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9419, 9658], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [97, 3739], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1902, 3953], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3961, 6504], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7830, 8174], + "skill_idxes": [11] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6504, 8602], + "skill_idxes": [10, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8617, 8874], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8875, 9299], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9419, 9658], + "skill_idxes": [16] + } + ] +} diff --git a/annotations/task-0030/episode_00300020.json b/annotations/task-0030/episode_00300020.json new file mode 100644 index 0000000000000000000000000000000000000000..85671cda081e79a50aa2e3ae4c0ca16fb722a5b0 --- /dev/null +++ b/annotations/task-0030/episode_00300020.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9626, + "valid_duration": [23, 9649] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [23, 432], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [442, 2411], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2472, 2889], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2895, 3483], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3520, 3961], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4067, 4383], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4389, 5079], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5112, 5639], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5650, 6897], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6897, 7386], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7514, 7711], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7749, 7914], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7924, 8202], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8263, 8657], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8679, 8842], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8913, 9336], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9448, 9649], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [23, 5079], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2895, 5639], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5650, 7386], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7514, 7711], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7749, 8202], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8263, 8842], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8913, 9336], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9448, 9649], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300030.json b/annotations/task-0030/episode_00300030.json new file mode 100644 index 0000000000000000000000000000000000000000..8f170c99e35519a8c7d371c305fd4457a76c9512 --- /dev/null +++ b/annotations/task-0030/episode_00300030.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8732, + "valid_duration": [21, 8753] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [21, 447], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [449, 2398], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2431, 2778], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2778, 3140], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3140, 3520], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3520, 4337], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4337, 4786], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4816, 5181], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5219, 5638], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5670, 6301], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6457, 6663], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6681, 6915], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6919, 7343], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7343, 7792], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7822, 7954], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7956, 8364], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8483, 8753], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [21, 4786], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2778, 5181], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5219, 6301], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6457, 6663], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6681, 7343], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7343, 7954], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7956, 8364], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8483, 8753], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300040.json b/annotations/task-0030/episode_00300040.json new file mode 100644 index 0000000000000000000000000000000000000000..7d2e2ee25262f59819563c40aa1269e45d9f52c8 --- /dev/null +++ b/annotations/task-0030/episode_00300040.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7807, + "valid_duration": [39, 7846] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 222], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [239, 1190], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1220, 1515], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1515, 1788], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1791, 2165], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2189, 2550], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2571, 3189], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3273, 3675], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3728, 4518], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4545, 5194], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5304, 5635], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5674, 6006], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6012, 6300], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6310, 6726], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6737, 6855], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6869, 7311], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7490, 7846], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 3189], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1515, 3675], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3728, 5194], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5304, 5635], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5674, 6300], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6310, 6855], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6869, 7311], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7490, 7846], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300050.json b/annotations/task-0030/episode_00300050.json new file mode 100644 index 0000000000000000000000000000000000000000..4a70ee7ab8c7f72f2bc744c0f748aef7dfbc5116 --- /dev/null +++ b/annotations/task-0030/episode_00300050.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6971, + "valid_duration": [0, 6971] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 190], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [206, 799], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [910, 1192], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1199, 1284], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1298, 1933], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1933, 2411], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2441, 3027], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3083, 3422], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3429, 4092], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4129, 4565], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4812, 5024], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5080, 5277], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5383, 5586], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5803, 6012], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6018, 6153], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6230, 6703], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6774, 6971], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3027], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1199, 3422], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3429, 4565], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4812, 5024], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5080, 5586], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5803, 6153], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6230, 6703], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6774, 6971], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300060.json b/annotations/task-0030/episode_00300060.json new file mode 100644 index 0000000000000000000000000000000000000000..e4ea4daba1ea66b04f7888cc3c4a7ad4f0b726e6 --- /dev/null +++ b/annotations/task-0030/episode_00300060.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9255, + "valid_duration": [45, 9300] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 822], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [822, 2955], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3000, 3261], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3264, 3909], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3915, 4350], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4350, 4926], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4926, 5390], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5391, 5685], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5760, 6235], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6247, 6690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6897, 7155], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7170, 7458], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7471, 7800], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7800, 8253], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8253, 8400], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8400, 8910], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8994, 9300], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 5390], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3264, 5685], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5760, 6690], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6897, 7155], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7170, 7800], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7800, 8400], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8400, 8910], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8994, 9300], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300070.json b/annotations/task-0030/episode_00300070.json new file mode 100644 index 0000000000000000000000000000000000000000..a523fc0c423d1295336fb2c0bc5f88d944d8cbd9 --- /dev/null +++ b/annotations/task-0030/episode_00300070.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 11100, + "valid_duration": [0, 11100] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 722], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [756, 3534], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3541, 4285], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4405, 4848], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4858, 5310], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5313, 5688], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5688, 6406], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6406, 6804], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6941, 7411], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "floors_ulujpr_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7411, 7956], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8142, 8493], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8493, 8736], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8736, 9112], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9112, 9898], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9898, 10062], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10062, 10548], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10731, 11100], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 6406], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4405, 6804], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "floors_ulujpr_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6941, 7956], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8142, 8493], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8493, 9112], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9112, 10062], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10062, 10548], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10731, 11100], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300080.json b/annotations/task-0030/episode_00300080.json new file mode 100644 index 0000000000000000000000000000000000000000..fac8ce08228a759ad8d33610e2bb47d0cd8dfa4b --- /dev/null +++ b/annotations/task-0030/episode_00300080.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8070, + "valid_duration": [0, 8070] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 186], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [186, 990], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [990, 1237], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1507, 1656], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1656, 2340], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2340, 2910], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2940, 3630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3660, 4170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4170, 4893], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4923, 5385], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5460, 5670], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5670, 6129], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6198, 6513], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6513, 6832], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6835, 6966], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6969, 7536], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7536, 8070], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3630], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1507, 4170], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4170, 5385], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5460, 5670], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5670, 6513], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6513, 6966], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6969, 7536], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7536, 8070], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300090.json b/annotations/task-0030/episode_00300090.json new file mode 100644 index 0000000000000000000000000000000000000000..ae995af42733b78340fb5df86a90ee0e0462c64d --- /dev/null +++ b/annotations/task-0030/episode_00300090.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7722, + "valid_duration": [0, 7722] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 189], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [189, 1336], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1336, 1651], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1651, 1746], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1746, 2505], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2505, 3003], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3003, 3499], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3499, 3976], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3976, 4667], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4673, 5085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5085, 5472], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5472, 5648], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5648, 5993], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5993, 6411], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6411, 6553], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6553, 7158], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7158, 7722], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3499], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1651, 3976], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3976, 5085], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5085, 5472], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5472, 5993], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5993, 6553], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6553, 7158], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7158, 7722], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300100.json b/annotations/task-0030/episode_00300100.json new file mode 100644 index 0000000000000000000000000000000000000000..d137ae9d02066f5eaa35961a54cf1c6c5f8f2e0d --- /dev/null +++ b/annotations/task-0030/episode_00300100.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9679, + "valid_duration": [0, 9679] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 805], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [806, 2601], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2679, 3378], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3379, 3690], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3691, 4320], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4320, 4466], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4495, 5010], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5068, 5466], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5533, 6056], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6059, 6466], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6616, 7048], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7048, 7631], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7645, 8019], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8022, 8670], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8748, 8887], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8887, 9349], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9407, 9679], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5010], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3379, 5466], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5533, 6466], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6616, 7048], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7048, 8019], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8022, 8887], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8887, 9349], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9407, 9679], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300110.json b/annotations/task-0030/episode_00300110.json new file mode 100644 index 0000000000000000000000000000000000000000..3f9c560cf1b6f2f5d404341223af61dbd827ef75 --- /dev/null +++ b/annotations/task-0030/episode_00300110.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9129, + "valid_duration": [30, 9159] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 531], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [531, 1135], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1135, 1358], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1358, 1572], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1572, 2242], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2242, 2674], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2674, 3278], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3278, 3615], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3615, 5266], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5266, 6168], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6658, 6894], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6894, 7298], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7298, 7835], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7835, 8112], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8112, 8267], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8267, 8688], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8688, 9159], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 3278], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1358, 3615], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3615, 6168], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6658, 6894], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6894, 7835], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7835, 8267], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8267, 8688], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8688, 9159], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300120.json b/annotations/task-0030/episode_00300120.json new file mode 100644 index 0000000000000000000000000000000000000000..be87a066c87a59198f4e3f92eb626cbf74f36771 --- /dev/null +++ b/annotations/task-0030/episode_00300120.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8331, + "valid_duration": [0, 8331] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 453], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [457, 1770], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1785, 2169], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2170, 2520], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2520, 3000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3001, 3258], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3259, 3825], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3826, 4207], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4209, 4770], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4770, 5404], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5524, 5850], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5850, 6081], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6180, 6630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6630, 7151], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7181, 7368], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7428, 7955], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8010, 8331], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3825], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2170, 4207], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4209, 5404], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5524, 5850], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5850, 6630], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6630, 7368], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7428, 7955], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8010, 8331], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300130.json b/annotations/task-0030/episode_00300130.json new file mode 100644 index 0000000000000000000000000000000000000000..30255789f43c33c493f9de5cec9c74cb6797d898 --- /dev/null +++ b/annotations/task-0030/episode_00300130.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10584, + "valid_duration": [84, 10668] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [84, 270], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [354, 2101], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2334, 2793], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2858, 3245], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3334, 3723], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3867, 4231], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4278, 4782], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4783, 5025], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5091, 6996], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "floors_ulujpr_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7108, 7529], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8250, 8640], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8641, 8760], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8777, 9111], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9111, 9817], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9911, 10092], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10107, 10480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10481, 10668], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [84, 4782], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2858, 5025], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "floors_ulujpr_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5091, 7529], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8250, 8640], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8641, 9111], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9111, 10092], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10107, 10480], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10481, 10668], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300140.json b/annotations/task-0030/episode_00300140.json new file mode 100644 index 0000000000000000000000000000000000000000..196cdc778c8fa46eadfac84e0b89273b18311025 --- /dev/null +++ b/annotations/task-0030/episode_00300140.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 11266, + "valid_duration": [0, 11266] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 991], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [991, 2179], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2179, 3136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3137, 3513], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3513, 4534], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4726, 5343], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5343, 6516], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6516, 7039], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7305, 7740], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7740, 8374], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8374, 8643], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8643, 9240], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9240, 9724], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9724, 9967], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9950, 10114], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10114, 10953], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10953, 11266], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 6516], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3137, 7039], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7305, 8374], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8374, 8643], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8643, 9724], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9724, 10114], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10114, 10953], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10953, 11266], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300150.json b/annotations/task-0030/episode_00300150.json new file mode 100644 index 0000000000000000000000000000000000000000..0e3351bf1b7028feeacf871d586ff46e6f49746b --- /dev/null +++ b/annotations/task-0030/episode_00300150.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9792, + "valid_duration": [106, 9898] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [106, 824], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [825, 1733], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1734, 2317], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2318, 2662], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2662, 3335], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3335, 4045], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4045, 4830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4830, 5125], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5223, 5980], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5981, 6689], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7033, 7344], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7344, 7399], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7399, 7904], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7904, 8639], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8639, 8924], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8924, 9559], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9666, 9898], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [106, 4830], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2318, 5125], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5223, 6689], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7033, 7344], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7344, 7904], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7904, 8924], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8924, 9559], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9666, 9898], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300160.json b/annotations/task-0030/episode_00300160.json new file mode 100644 index 0000000000000000000000000000000000000000..9c78f8a0d4023f26d3729061fb6d9727273306c1 --- /dev/null +++ b/annotations/task-0030/episode_00300160.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10134, + "valid_duration": [0, 10134] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 559], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [598, 2065], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2386, 2643], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2655, 2766], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2766, 3284], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3331, 3685], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3685, 4254], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4254, 4665], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4814, 6543], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6660, 6975], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7594, 7775], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7806, 7874], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7874, 8328], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8411, 8838], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8838, 9120], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9137, 9729], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9864, 10134], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4254], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2655, 4665], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4814, 6975], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7594, 7775], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7806, 8328], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8411, 9120], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9137, 9729], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9864, 10134], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300170.json b/annotations/task-0030/episode_00300170.json new file mode 100644 index 0000000000000000000000000000000000000000..831f3a0f61ede33c321b328e61099e2cdfc01da9 --- /dev/null +++ b/annotations/task-0030/episode_00300170.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8928, + "valid_duration": [137, 9065] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [137, 609], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [609, 1530], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1686, 2034], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2034, 2640], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2760, 3222], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3222, 3420], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3420, 4140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4140, 4440], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4500, 5104], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "floors_ulujpr_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5700, 6030], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6030, 6840], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 11, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6840, 7020], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7200, 7440], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7440, 8160], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8160, 8340], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8340, 8820], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8880, 9065], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [137, 4140], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2034, 4440], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "floors_ulujpr_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4500, 6030], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6840, 7020], + "skill_idxes": [11] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6030, 7440], + "skill_idxes": [10, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7440, 8340], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8340, 8820], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8880, 9065], + "skill_idxes": [16] + } + ] +} diff --git a/annotations/task-0030/episode_00300180.json b/annotations/task-0030/episode_00300180.json new file mode 100644 index 0000000000000000000000000000000000000000..b9f63b5139fc02cc86f63bf3e69b7cd9b6331a6e --- /dev/null +++ b/annotations/task-0030/episode_00300180.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 13158, + "valid_duration": [117, 13275] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [117, 668], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [671, 2088], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2615, 3177], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3178, 3531], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3537, 4485], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4809, 5004], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5034, 6111], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6136, 6675], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6988, 8541], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8548, 9705], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9908, 10206], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10217, 10569], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10645, 11145], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11303, 11646], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11681, 11826], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11826, 12699], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12974, 13275], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [117, 6111], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3178, 6675], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6988, 9705], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9908, 10206], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10217, 11145], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11303, 11826], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11826, 12699], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12974, 13275], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300190.json b/annotations/task-0030/episode_00300190.json new file mode 100644 index 0000000000000000000000000000000000000000..efc0bdda1516f4cbee6ccf78a83e9210097c26b1 --- /dev/null +++ b/annotations/task-0030/episode_00300190.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10605, + "valid_duration": [130, 10735] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [130, 607], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [623, 2119], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2310, 2460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2467, 2742], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2762, 3327], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3405, 3799], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3799, 4447], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4495, 4737], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5039, 5833], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6645, 7638], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8314, 8636], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8636, 8724], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8724, 9042], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9108, 9613], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9743, 10059], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10060, 10524], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10525, 10735], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [130, 4447], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2467, 4737], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5039, 7638], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8314, 8636], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8636, 9042], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9108, 10059], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10060, 10524], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10525, 10735], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300200.json b/annotations/task-0030/episode_00300200.json new file mode 100644 index 0000000000000000000000000000000000000000..939de0511a82ab11b2541760d8e93a49d3549cf9 --- /dev/null +++ b/annotations/task-0030/episode_00300200.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 12082, + "valid_duration": [46, 12128] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [46, 724], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1199, 2477], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2647, 3063], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3280, 3733], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3733, 4434], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4684, 5769], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5769, 6754], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6833, 7398], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7670, 8066], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8473, 9050], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9186, 9525], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9537, 9842], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9876, 10419], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10419, 10589], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10589, 10815], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10860, 11520], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11788, 12128], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [46, 6754], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3280, 7398], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7670, 9050], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9186, 9525], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9537, 10419], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10419, 10815], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10860, 11520], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11788, 12128], + "skill_idxes": [16] + } + ] +} diff --git a/annotations/task-0030/episode_00300210.json b/annotations/task-0030/episode_00300210.json new file mode 100644 index 0000000000000000000000000000000000000000..0e567688f92dc3af79a511e077f47685d4e257c3 --- /dev/null +++ b/annotations/task-0030/episode_00300210.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 12420, + "valid_duration": [60, 12480] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 390], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [390, 2164], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2686, 2970], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3240, 3822], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3822, 4800], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4800, 5401], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5461, 6426], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6426, 6999], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7240, 8229], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8230, 8893], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9043, 9276], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9276, 9510], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9510, 10146], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10416, 10890], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10890, 11046], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11046, 11896], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12166, 12480], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 6426], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3240, 6999], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7240, 8893], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9043, 9276], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9276, 10146], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10416, 11046], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11046, 11896], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12166, 12480], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300220.json b/annotations/task-0030/episode_00300220.json new file mode 100644 index 0000000000000000000000000000000000000000..8de0d9bbe3d66d9f367e8e1d6f81cd8a5f266a6e --- /dev/null +++ b/annotations/task-0030/episode_00300220.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9013, + "valid_duration": [54, 9067] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [54, 382], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [382, 1090], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1090, 1473], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1473, 1798], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1799, 2337], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2337, 3096], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3096, 3861], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3861, 4336], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4336, 5019], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5019, 6014], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6014, 6492], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6492, 6846], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6846, 7425], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7425, 8237], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8237, 8369], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8369, 8820], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8820, 9067], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [54, 3861], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1473, 4336], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4336, 6014], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6014, 6492], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6492, 7425], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7425, 8369], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8369, 8820], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8820, 9067], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300230.json b/annotations/task-0030/episode_00300230.json new file mode 100644 index 0000000000000000000000000000000000000000..c21f1a1e6cc419402bf2f8ae53153ef719218e33 --- /dev/null +++ b/annotations/task-0030/episode_00300230.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 11480, + "valid_duration": [59, 11539] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [59, 218], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [230, 1980], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1980, 2498], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2598, 3296], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3305, 4085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4196, 4736], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4751, 5688], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5732, 6158], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6413, 6908], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6932, 7661], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7868, 8063], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8066, 8288], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8297, 8771], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8930, 9731], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9761, 9932], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9947, 10981], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11212, 11539], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [59, 5688], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2598, 6158], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6413, 7661], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7868, 8063], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8066, 8771], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8930, 9932], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9947, 10981], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11212, 11539], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300240.json b/annotations/task-0030/episode_00300240.json new file mode 100644 index 0000000000000000000000000000000000000000..54c1ec33f985aeb0f157ff55a6362a31224b2460 --- /dev/null +++ b/annotations/task-0030/episode_00300240.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9072, + "valid_duration": [60, 9132] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 734], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [735, 2004], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2087, 2346], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2346, 2506], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2506, 3088], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3089, 3420], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3421, 4062], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4062, 4354], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4556, 5823], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6033, 6615], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6615, 6844], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6844, 6937], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6937, 7417], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7448, 8079], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8079, 8251], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8251, 8710], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8772, 9132], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 4062], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2346, 4354], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4556, 6615], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6615, 6844], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6844, 7417], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7448, 8251], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8251, 8710], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8772, 9132], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300250.json b/annotations/task-0030/episode_00300250.json new file mode 100644 index 0000000000000000000000000000000000000000..319866a0c732f5d5e804765c74ddbfffa12ed95e --- /dev/null +++ b/annotations/task-0030/episode_00300250.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 13514, + "valid_duration": [0, 13514] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 784], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [932, 2646], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2799, 3345], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3354, 3963], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4158, 4770], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4774, 5100], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5100, 6203], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6263, 6779], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7140, 8359], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8493, 9955], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10352, 10689], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10769, 10845], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11126, 11561], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11562, 12229], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12232, 12402], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12525, 13106], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13242, 13514], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 6203], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3354, 6779], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7140, 9955], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10352, 10689], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10769, 11561], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11562, 12402], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12525, 13106], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13242, 13514], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300260.json b/annotations/task-0030/episode_00300260.json new file mode 100644 index 0000000000000000000000000000000000000000..18c708d974875e2125ddc376544f0c5170bbef4e --- /dev/null +++ b/annotations/task-0030/episode_00300260.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 11367, + "valid_duration": [57, 11424] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [57, 1087], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1087, 2638], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2969, 3360], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3360, 3562], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3570, 4384], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4384, 5157], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5515, 6089], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6216, 6586], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6985, 7524], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7524, 8031], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8296, 8475], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8485, 8784], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8784, 9263], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9299, 9925], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9976, 10111], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10377, 10926], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11209, 11424], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [57, 6089], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3360, 6586], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6985, 8031], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8296, 8475], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8485, 9263], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9299, 10111], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10377, 10926], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11209, 11424], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300280.json b/annotations/task-0030/episode_00300280.json new file mode 100644 index 0000000000000000000000000000000000000000..ebf983159de20ca35fc813e2a5c396a7798e590e --- /dev/null +++ b/annotations/task-0030/episode_00300280.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9780, + "valid_duration": [23, 9803] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [23, 301], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [301, 1114], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1294, 1626], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1627, 2167], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2168, 2704], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2704, 3039], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3039, 3615], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3649, 3969], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3969, 5402], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6002, 6484], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7324, 7473], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7474, 7565], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7565, 8043], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8044, 8737], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8737, 8902], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8914, 9544], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9545, 9803], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [23, 3615], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1627, 3969], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3969, 6484], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7324, 7473], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7474, 8043], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8044, 8902], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8914, 9544], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9545, 9803], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300290.json b/annotations/task-0030/episode_00300290.json new file mode 100644 index 0000000000000000000000000000000000000000..e1dbda438f0d0e5cb0495561e90c82804c2c6049 --- /dev/null +++ b/annotations/task-0030/episode_00300290.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6611, + "valid_duration": [0, 6611] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 540], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [540, 912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [912, 1167], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1167, 1350], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1350, 1864], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1864, 1986], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1986, 2490], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2490, 2803], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2803, 3077], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3077, 4518], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4518, 4713], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4713, 5039], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5039, 5460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5460, 5580], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5580, 6072], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6072, 6428], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6428, 6611], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2490], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1167, 2803], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2803, 4518], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4518, 4713], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4713, 5460], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5460, 5580], + "skill_idxes": [13] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5580, 6428], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6428, 6611], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300300.json b/annotations/task-0030/episode_00300300.json new file mode 100644 index 0000000000000000000000000000000000000000..6364f6e5dc0df44f6cf662d5242508aa0e818d97 --- /dev/null +++ b/annotations/task-0030/episode_00300300.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 13997, + "valid_duration": [0, 13997] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1175], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1235, 3218], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3362, 4241], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4241, 4907], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4940, 6011], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6032, 6320], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6326, 7382], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7460, 8177], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8450, 9101], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9122, 10013], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10457, 10766], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10793, 10982], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11003, 11738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11996, 12422], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12437, 12655], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12745, 13550], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13676, 13997], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 7382], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4241, 8177], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8450, 10013], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10457, 10766], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10793, 11738], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11996, 12655], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12745, 13550], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13676, 13997], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300310.json b/annotations/task-0030/episode_00300310.json new file mode 100644 index 0000000000000000000000000000000000000000..a8eade809fedb409c1de14a6d9f03e1abe0961f0 --- /dev/null +++ b/annotations/task-0030/episode_00300310.json @@ -0,0 +1,292 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9286, + "valid_duration": [90, 9376] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 972], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [972, 1650], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1800, 2013], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2013, 2385], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2385, 2916], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2916, 3306], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3600, 3751], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3751, 4006], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4006, 5835], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5835, 6600], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7470, 7756], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7756, 8253], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8253, 8596], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8596, 8730], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 14, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8730, 9196], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 15, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9240, 9376], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 3751], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2013, 4006], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4006, 6600], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7470, 7756], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7756, 8596], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8596, 8730], + "skill_idxes": [13] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8730, 9196], + "skill_idxes": [14] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9240, 9376], + "skill_idxes": [15] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300320.json b/annotations/task-0030/episode_00300320.json new file mode 100644 index 0000000000000000000000000000000000000000..4965cb7657b45c254bec7e2645908dfa5308afac --- /dev/null +++ b/annotations/task-0030/episode_00300320.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 11765, + "valid_duration": [85, 11850] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [85, 381], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [381, 1877], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1877, 2540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2588, 2857], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2880, 3433], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3673, 4271], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4271, 5120], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5334, 5982], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6134, 7212], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7212, 7920], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8132, 8396], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8459, 8610], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8655, 9446], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9448, 10290], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10316, 10458], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10825, 11386], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11556, 11850], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [85, 5120], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2588, 5982], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6134, 7920], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8132, 8396], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8459, 9446], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9448, 10458], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10825, 11386], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11556, 11850], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300340.json b/annotations/task-0030/episode_00300340.json new file mode 100644 index 0000000000000000000000000000000000000000..d34bcddd6fbae25476b53e5bfa871669d9643bcd --- /dev/null +++ b/annotations/task-0030/episode_00300340.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10744, + "valid_duration": [86, 10830] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [86, 330], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [333, 1620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1650, 1965], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1996, 2430], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2460, 3240], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3240, 3570], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3570, 4014], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4014, 4278], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4320, 5400], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6540, 7800], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8520, 8685], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8700, 8729], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8760, 9360], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9360, 9780], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9780, 9993], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9994, 10500], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10500, 10830], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [86, 4014], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1996, 4278], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4320, 7800], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8520, 8685], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8700, 9360], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9360, 9993], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9994, 10500], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10500, 10830], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300350.json b/annotations/task-0030/episode_00300350.json new file mode 100644 index 0000000000000000000000000000000000000000..74b6e0a097b06f5cabd21add364749a9830c956f --- /dev/null +++ b/annotations/task-0030/episode_00300350.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 11597, + "valid_duration": [90, 11687] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 243], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [243, 1306], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1429, 2283], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2286, 2746], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2746, 4086], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4086, 4746], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4768, 5896], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5956, 6577], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6577, 7267], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7267, 7936], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8280, 8668], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8668, 9076], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9076, 9676], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9676, 10426], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10456, 10648], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10648, 11386], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11419, 11687], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 5896], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2286, 6577], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6577, 7936], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8280, 8668], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8668, 9676], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9676, 10648], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10648, 11386], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11419, 11687], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300360.json b/annotations/task-0030/episode_00300360.json new file mode 100644 index 0000000000000000000000000000000000000000..051c92efa4c6a0185d637eefe957edd74f67ff24 --- /dev/null +++ b/annotations/task-0030/episode_00300360.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 12012, + "valid_duration": [48, 12060] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [48, 355], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [356, 1485], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1668, 2132], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2133, 2827], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2860, 4050], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4051, 4798], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4826, 5625], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5625, 6412], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6412, 7530], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7554, 8250], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8400, 8709], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8730, 8895], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8925, 10024], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10036, 10377], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10377, 10537], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10808, 11629], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11789, 12060], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [48, 5625], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2133, 6412], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6412, 8250], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8400, 8709], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8730, 10024], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10036, 10537], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10808, 11629], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11789, 12060], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300390.json b/annotations/task-0030/episode_00300390.json new file mode 100644 index 0000000000000000000000000000000000000000..fd479f77b99c0212a2f127f752095549393b2509 --- /dev/null +++ b/annotations/task-0030/episode_00300390.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10446, + "valid_duration": [0, 10446] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 547], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [762, 1636], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1681, 2079], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2079, 2196], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2275, 2909], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2941, 3602], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3615, 4615], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4732, 5301], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5392, 5792], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6152, 6852], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7013, 7487], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7487, 7632], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7812, 8172], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8298, 8568], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8568, 8762], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8882, 9738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10004, 10446], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4615], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2079, 5301], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5392, 6852], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7013, 7487], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7487, 8172], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8298, 8762], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8882, 9738], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10004, 10446], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300400.json b/annotations/task-0030/episode_00300400.json new file mode 100644 index 0000000000000000000000000000000000000000..1bfc3c93fef137b9086c3b0f126c8631d798a68b --- /dev/null +++ b/annotations/task-0030/episode_00300400.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10596, + "valid_duration": [252, 10848] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [252, 853], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [853, 1678], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1778, 2547], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2601, 2787], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2847, 3377], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3377, 4074], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4074, 4644], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4644, 4923], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5164, 5679], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5686, 6947], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8015, 8294], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8294, 8420], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8420, 9097], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9413, 10026], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "newspaper_74"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10092, 10231], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10231, 10583], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10583, 10848], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [252, 4644], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2601, 4923], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5164, 6947], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8015, 8294], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8294, 9097], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "newspaper_74"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9413, 10231], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10231, 10583], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10583, 10848], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300410.json b/annotations/task-0030/episode_00300410.json new file mode 100644 index 0000000000000000000000000000000000000000..46c9235bd53f9f62ed4a6fe4ee1acd4e281c0e1b --- /dev/null +++ b/annotations/task-0030/episode_00300410.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 11160, + "valid_duration": [0, 11160] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 476], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [477, 1448], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1538, 2284], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2284, 3075], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3076, 3745], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3968, 4167], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4266, 5040], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5119, 5685], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5893, 6598], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6598, 7436], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7818, 8237], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8237, 8571], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8691, 9232], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9346, 9792], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9792, 9961], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9961, 10626], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10666, 11160], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5040], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2284, 5685], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5893, 7436], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7818, 8237], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8237, 9232], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9346, 9961], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9961, 10626], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10666, 11160], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300440.json b/annotations/task-0030/episode_00300440.json new file mode 100644 index 0000000000000000000000000000000000000000..8b05f5177b311a6a2d26e9d57ca39adbd5352a57 --- /dev/null +++ b/annotations/task-0030/episode_00300440.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 11503, + "valid_duration": [0, 11503] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 310], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [347, 3429], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3429, 4116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4125, 4440], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4440, 5073], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5163, 5552], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5553, 6525], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6526, 7103], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7173, 7785], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7803, 8343], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8396, 8829], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8853, 9149], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9158, 9556], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9570, 10155], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10173, 10307], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10308, 11100], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11190, 11503], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 6525], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4125, 7103], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7173, 8343], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8396, 8829], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8853, 9556], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9570, 10307], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10308, 11100], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11190, 11503], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300470.json b/annotations/task-0030/episode_00300470.json new file mode 100644 index 0000000000000000000000000000000000000000..7dabcd0769b695f90f003b2e2b83303d6c934375 --- /dev/null +++ b/annotations/task-0030/episode_00300470.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 11043, + "valid_duration": [0, 11043] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 736], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [736, 2010], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2369, 2796], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2796, 3363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3450, 3988], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3989, 4397], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4397, 5206], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5304, 5793], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5949, 6819], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6820, 7394], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7449, 7743], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7776, 8076], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8466, 8690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8859, 9483], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9483, 9660], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9762, 10638], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10695, 11043], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5206], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2796, 5793], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5949, 7394], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7449, 7743], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7776, 8690], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8859, 9660], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9762, 10638], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10695, 11043], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300500.json b/annotations/task-0030/episode_00300500.json new file mode 100644 index 0000000000000000000000000000000000000000..78133e858a82d9f240d215b81fe1609cfa0c3721 --- /dev/null +++ b/annotations/task-0030/episode_00300500.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10080, + "valid_duration": [75, 10155] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [75, 595], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [631, 1596], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1597, 1842], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1845, 2073], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2347, 2639], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2902, 3226], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3355, 3816], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3816, 4059], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4137, 5084], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5114, 6640], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7460, 7631], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7641, 7691], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7692, 8467], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8490, 9091], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9162, 9365], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9420, 9960], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10017, 10155], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [75, 3816], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1845, 4059], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4137, 6640], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7460, 7631], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7641, 8467], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8490, 9365], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9420, 9960], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10017, 10155], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300510.json b/annotations/task-0030/episode_00300510.json new file mode 100644 index 0000000000000000000000000000000000000000..854d2a2237d7f5ecf2a629a178f4ea2121b9c7d3 --- /dev/null +++ b/annotations/task-0030/episode_00300510.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9961, + "valid_duration": [75, 10036] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [75, 573], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [622, 2406], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2415, 2868], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2868, 3165], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3165, 3930], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3933, 4215], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4215, 4984], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4984, 5559], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5577, 6234], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6234, 7066], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7240, 7477], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7485, 8053], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8053, 8533], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8550, 8970], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8971, 9129], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9217, 9770], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9799, 10036], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [75, 4984], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2868, 5559], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5577, 7066], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7240, 7477], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7485, 8533], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8550, 9129], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9217, 9770], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9799, 10036], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300520.json b/annotations/task-0030/episode_00300520.json new file mode 100644 index 0000000000000000000000000000000000000000..60e00b3a34ea4d058014d1efcc196d086fb7be4e --- /dev/null +++ b/annotations/task-0030/episode_00300520.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10476, + "valid_duration": [84, 10560] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [84, 408], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [408, 1420], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1420, 1920], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1920, 2197], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2197, 3001], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3001, 3792], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3885, 4359], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4718, 5170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5322, 5744], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5744, 6633], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7275, 7650], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7686, 8040], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8040, 8583], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8583, 9337], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9349, 9510], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9564, 10099], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10242, 10560], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [84, 4359], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1920, 5170], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5322, 6633], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7275, 7650], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7686, 8583], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8583, 9510], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9564, 10099], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10242, 10560], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300540.json b/annotations/task-0030/episode_00300540.json new file mode 100644 index 0000000000000000000000000000000000000000..2efac4924adb5fd8b8567737631ca011b9bfaf37 --- /dev/null +++ b/annotations/task-0030/episode_00300540.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10140, + "valid_duration": [63, 10203] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [63, 589], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [590, 2175], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2175, 2503], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2503, 2986], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2986, 3486], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3517, 3873], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3873, 4714], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4805, 5156], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5403, 6149], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6149, 7185], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7185, 7563], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7563, 7881], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7881, 8329], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8480, 8913], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["firewood_75", "lighter_73"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8913, 9046], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9046, 9723], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9843, 10203], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [63, 4714], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2503, 5156], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5403, 7185], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7185, 7563], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7563, 8329], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["firewood_75", "lighter_73"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8480, 9046], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9046, 9723], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9843, 10203], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300560.json b/annotations/task-0030/episode_00300560.json new file mode 100644 index 0000000000000000000000000000000000000000..3418042577ea459331d567d9b6c7d06f2ed3ac92 --- /dev/null +++ b/annotations/task-0030/episode_00300560.json @@ -0,0 +1,292 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9920, + "valid_duration": [79, 9999] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [79, 791], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [791, 1536], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1536, 1877], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1878, 2426], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2426, 2962], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2962, 3390], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3390, 3812], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3812, 4079], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4079, 5015], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5015, 6666], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7475, 7631], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7631, 8366], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8366, 8768], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8769, 9008], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 14, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9008, 9733], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 15, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9733, 9999], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [79, 3812], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1878, 4079], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4079, 6666], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7475, 7631], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7631, 8366], + "skill_idxes": [11] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8366, 9008], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9008, 9733], + "skill_idxes": [14] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9733, 9999], + "skill_idxes": [15] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300580.json b/annotations/task-0030/episode_00300580.json new file mode 100644 index 0000000000000000000000000000000000000000..e213cd22c439a1ef5855e886f0a2bd39bae99d50 --- /dev/null +++ b/annotations/task-0030/episode_00300580.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 12872, + "valid_duration": [0, 12872] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 832], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [832, 3478], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3992, 4334], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4334, 5035], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5035, 5642], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5642, 5940], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5940, 6619], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6619, 7019], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7019, 8505], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8505, 9525], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10475, 10618], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10618, 10671], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10677, 11229], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11229, 11658], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11658, 11919], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11922, 12598], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12598, 12872], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 6619], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4334, 7019], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7019, 9525], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10475, 10618], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10618, 11229], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11229, 11919], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11922, 12598], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12598, 12872], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300600.json b/annotations/task-0030/episode_00300600.json new file mode 100644 index 0000000000000000000000000000000000000000..127256463879be285ea14b219ec7156f91096e4e --- /dev/null +++ b/annotations/task-0030/episode_00300600.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 14333, + "valid_duration": [0, 14333] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1539], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1539, 4590], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5111, 5627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5715, 6453], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6454, 7054], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7174, 7560], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7560, 8402], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8403, 9033], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9223, 10203], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10243, 11124], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11232, 11557], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11582, 11784], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11784, 12390], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [12402, 12831], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12831, 12993], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13155, 13839], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13947, 14333], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 8402], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5715, 9033], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9223, 11124], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11232, 11557], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11582, 12390], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12402, 12993], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13155, 13839], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13947, 14333], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300620.json b/annotations/task-0030/episode_00300620.json new file mode 100644 index 0000000000000000000000000000000000000000..cc88ca2ae7bae0a0271269195d455f40912364b2 --- /dev/null +++ b/annotations/task-0030/episode_00300620.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 11923, + "valid_duration": [31, 11954] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [31, 1361], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1361, 2743], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2866, 3618], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3618, 3988], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3988, 4716], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4716, 4986], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4986, 5518], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5518, 6087], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6088, 7258], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7258, 8461], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8619, 8925], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8957, 9938], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9939, 10339], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10339, 10572], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10575, 10772], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10772, 11380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11380, 11954], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [31, 5518], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3618, 6087], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6088, 8461], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8619, 8925], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8957, 10339], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10339, 10772], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10772, 11380], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11380, 11954], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300630.json b/annotations/task-0030/episode_00300630.json new file mode 100644 index 0000000000000000000000000000000000000000..93b58c863acd576aa6223cfe1eecf1a61eb6ca2b --- /dev/null +++ b/annotations/task-0030/episode_00300630.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9300, + "valid_duration": [0, 9300] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 840], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [840, 1329], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1710, 1896], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1896, 2290], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2290, 2763], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2763, 3300], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3300, 3900], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3915, 4098], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4098, 4623], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6010, 6330], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6768, 7395], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 11, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7395, 7575], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7680, 7980], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8040, 8400], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8430, 8604], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8670, 9090], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9120, 9300], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3900], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1896, 4098], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4098, 6330], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7395, 7575], + "skill_idxes": [11] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6768, 7980], + "skill_idxes": [10, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8040, 8604], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8670, 9090], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9120, 9300], + "skill_idxes": [16] + } + ] +} diff --git a/annotations/task-0030/episode_00300640.json b/annotations/task-0030/episode_00300640.json new file mode 100644 index 0000000000000000000000000000000000000000..f4d5d8aec8255e5eb267294807047c084a5afd16 --- /dev/null +++ b/annotations/task-0030/episode_00300640.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10236, + "valid_duration": [51, 10287] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [51, 836], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [837, 1973], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1974, 2614], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2614, 2797], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2798, 3603], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3603, 4317], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4318, 5276], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5276, 5793], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5793, 6655], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "floors_ulujpr_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6656, 7294], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7358, 7888], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7888, 8003], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8003, 8486], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8490, 9051], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9063, 9223], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9358, 9938], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10050, 10287], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [51, 5276], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2614, 5793], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "floors_ulujpr_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5793, 7294], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7358, 7888], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7888, 8486], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8490, 9223], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9358, 9938], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10050, 10287], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300660.json b/annotations/task-0030/episode_00300660.json new file mode 100644 index 0000000000000000000000000000000000000000..fec6fccb63c8d544d7daf860e2d7d8ff716d77bb --- /dev/null +++ b/annotations/task-0030/episode_00300660.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10967, + "valid_duration": [40, 11007] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 620], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [620, 2551], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2552, 3077], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3078, 3491], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3492, 4260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4261, 4452], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4452, 5646], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5857, 6317], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6342, 7433], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7444, 7951], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8178, 8469], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8496, 8694], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8710, 9137], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9154, 9735], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9760, 9876], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9996, 10531], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10656, 11007], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 5646], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3078, 6317], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6342, 7951], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8178, 8469], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8496, 9137], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9154, 9876], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9996, 10531], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10656, 11007], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300670.json b/annotations/task-0030/episode_00300670.json new file mode 100644 index 0000000000000000000000000000000000000000..3a4ac512a933cee783b3a05f753aedb3572444da --- /dev/null +++ b/annotations/task-0030/episode_00300670.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9822, + "valid_duration": [39, 9861] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 430], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [430, 1383], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1383, 1933], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1933, 2124], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2124, 2815], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2815, 3500], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3500, 4340], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4340, 4932], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4932, 5673], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5673, 6541], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6706, 7080], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7080, 7530], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7530, 7920], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7920, 8581], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8581, 8772], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8772, 9491], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9515, 9861], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 4340], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1933, 4932], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4932, 6541], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6706, 7080], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7080, 7920], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7920, 8772], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8772, 9491], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9515, 9861], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300700.json b/annotations/task-0030/episode_00300700.json new file mode 100644 index 0000000000000000000000000000000000000000..de6035bc3e8a0a642afbe1a2c25018fa271b7692 --- /dev/null +++ b/annotations/task-0030/episode_00300700.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9468, + "valid_duration": [80, 9548] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [80, 457], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [506, 2326], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2564, 2812], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2812, 2951], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2951, 3633], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3633, 4146], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4164, 4714], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4756, 5181], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5181, 5766], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5766, 6307], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6358, 6622], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6622, 7297], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7327, 7696], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7696, 8419], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8419, 8584], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8734, 9240], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9333, 9548], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [80, 4714], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2812, 5181], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5181, 6307], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6358, 6622], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6622, 7696], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7696, 8584], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8734, 9240], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9333, 9548], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300710.json b/annotations/task-0030/episode_00300710.json new file mode 100644 index 0000000000000000000000000000000000000000..61111272fdeaf2b87de4bb7f11129b08b8c2f624 --- /dev/null +++ b/annotations/task-0030/episode_00300710.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8428, + "valid_duration": [60, 8488] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 350], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [350, 1116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1116, 1626], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1626, 1856], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1856, 2463], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2532, 3045], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3045, 3599], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3654, 4028], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4089, 4710], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4710, 5652], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6003, 6260], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6260, 6436], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6436, 6789], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6789, 7466], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7466, 7620], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7620, 8170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8257, 8488], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 3599], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1626, 4028], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4089, 5652], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6003, 6260], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6260, 6789], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6789, 7620], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7620, 8170], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8257, 8488], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300720.json b/annotations/task-0030/episode_00300720.json new file mode 100644 index 0000000000000000000000000000000000000000..d81aa708c1194a502c4d2d06df508e7410c034e3 --- /dev/null +++ b/annotations/task-0030/episode_00300720.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9533, + "valid_duration": [67, 9600] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [67, 762], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [763, 1935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2091, 2461], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2461, 2688], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2694, 3284], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3285, 3801], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3843, 4550], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4640, 5010], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5040, 6056], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6225, 6605], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6813, 7225], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7225, 7286], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7286, 7629], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7629, 8185], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8185, 8442], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8532, 9124], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9274, 9600], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [67, 4550], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2461, 5010], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5040, 6605], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6813, 7225], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7225, 7629], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7629, 8442], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8532, 9124], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9274, 9600], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300740.json b/annotations/task-0030/episode_00300740.json new file mode 100644 index 0000000000000000000000000000000000000000..ae95d204f5fb958abb7965cd2eb2c4bb60c685ca --- /dev/null +++ b/annotations/task-0030/episode_00300740.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8519, + "valid_duration": [36, 8555] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [36, 259], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [259, 1895], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2100, 2694], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2694, 3236], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3236, 3698], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3698, 3982], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4013, 4405], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4457, 4735], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4735, 5345], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5345, 6093], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6423, 6660], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6660, 6780], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6780, 7200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7200, 7478], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7478, 7684], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7684, 8137], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8231, 8555], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [36, 4405], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2694, 4735], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4735, 6093], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6423, 6660], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6660, 7200], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7200, 7684], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7684, 8137], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8231, 8555], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300750.json b/annotations/task-0030/episode_00300750.json new file mode 100644 index 0000000000000000000000000000000000000000..3e22f123cdd2e6f5f500794c450c74185bc2d0f1 --- /dev/null +++ b/annotations/task-0030/episode_00300750.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9580, + "valid_duration": [23, 9603] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [23, 1072], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1096, 1852], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2429, 2657], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2663, 3121], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3300, 3544], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3568, 4200], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4254, 4754], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4859, 5174], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5207, 5746], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5746, 6404], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6598, 6783], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6848, 7174], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7262, 7548], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7590, 8394], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8415, 8579], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8674, 9286], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9334, 9603], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [23, 4754], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2663, 5174], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5207, 6404], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6598, 6783], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6848, 7548], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7590, 8579], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8674, 9286], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9334, 9603], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300760.json b/annotations/task-0030/episode_00300760.json new file mode 100644 index 0000000000000000000000000000000000000000..499dd95982e13ddb587762ab7ff5ee1def39e813 --- /dev/null +++ b/annotations/task-0030/episode_00300760.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9976, + "valid_duration": [0, 9976] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 527], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [527, 2668], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2704, 3030], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3030, 3177], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3221, 3713], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3826, 4205], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4230, 5054], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5223, 5576], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5738, 6165], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6165, 6946], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7353, 7616], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7607, 7755], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7846, 8359], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8394, 8799], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8821, 9007], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9078, 9540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9668, 9976], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5054], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3030, 5576], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5738, 6946], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7353, 7616], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7607, 8359], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8394, 9007], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9078, 9540], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9668, 9976], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300780.json b/annotations/task-0030/episode_00300780.json new file mode 100644 index 0000000000000000000000000000000000000000..3f5063283df374e57e7daa358f6c4649bcecc7b4 --- /dev/null +++ b/annotations/task-0030/episode_00300780.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10633, + "valid_duration": [77, 10710] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [77, 970], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [970, 2799], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2799, 3428], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3428, 3900], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3900, 4592], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4595, 5161], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5198, 6142], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6214, 6607], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6777, 7335], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7335, 7893], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8134, 8397], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8423, 8670], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8670, 8993], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9006, 9486], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9505, 9636], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9729, 10258], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10360, 10710], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [77, 6142], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3428, 6607], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6777, 7893], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8134, 8397], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8423, 8993], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9006, 9636], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9729, 10258], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10360, 10710], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300790.json b/annotations/task-0030/episode_00300790.json new file mode 100644 index 0000000000000000000000000000000000000000..500c3087b694c16980dfc2e4c24418d1cc3f4e2f --- /dev/null +++ b/annotations/task-0030/episode_00300790.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10420, + "valid_duration": [0, 10420] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 600], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [616, 2021], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2216, 2480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2487, 3044], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3051, 3557], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3564, 3810], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3817, 4713], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4732, 5313], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5320, 5935], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6036, 7083], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7275, 7644], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7695, 8019], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8039, 8320], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8339, 9204], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9222, 9402], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9430, 9986], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10025, 10420], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4713], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2487, 5313], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5320, 7083], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7275, 7644], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7695, 8320], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8339, 9402], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9430, 9986], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10025, 10420], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300800.json b/annotations/task-0030/episode_00300800.json new file mode 100644 index 0000000000000000000000000000000000000000..212dd2e209d736865bcfe282ecdac10852d58be2 --- /dev/null +++ b/annotations/task-0030/episode_00300800.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9819, + "valid_duration": [90, 9909] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 546], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [546, 2421], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2421, 2858], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2858, 3070], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3076, 3617], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3617, 4122], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4122, 4715], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4715, 5109], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5109, 6287], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6287, 6821], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7040, 7504], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7504, 7770], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7770, 8216], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8216, 8818], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8818, 9012], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9012, 9613], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9613, 9909], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 4715], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2858, 5109], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5109, 6821], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7040, 7504], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7504, 8216], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8216, 9012], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9012, 9613], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9613, 9909], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300820.json b/annotations/task-0030/episode_00300820.json new file mode 100644 index 0000000000000000000000000000000000000000..50c174cb09dc812427f0ac21fd78b17c3fc483ab --- /dev/null +++ b/annotations/task-0030/episode_00300820.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9035, + "valid_duration": [121, 9156] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [121, 575], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [575, 1185], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1185, 1413], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1436, 1743], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1805, 2179], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2202, 2730], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2730, 3045], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3098, 3286], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3464, 4314], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5423, 5876], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7086, 7315], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7315, 7440], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7440, 7908], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7925, 8193], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8193, 8402], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8506, 8809], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8943, 9156], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [121, 3045], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1436, 3286], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3464, 5876], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7086, 7315], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7315, 7908], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7925, 8402], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8506, 8809], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8943, 9156], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300830.json b/annotations/task-0030/episode_00300830.json new file mode 100644 index 0000000000000000000000000000000000000000..14f0b0eb5b455f90182d35a52d81e1fc0effce2f --- /dev/null +++ b/annotations/task-0030/episode_00300830.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8319, + "valid_duration": [46, 8365] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [46, 540], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [541, 1535], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1577, 1907], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1907, 2395], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2395, 2889], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2890, 3229], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3231, 3623], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3678, 4074], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4074, 4646], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4646, 5467], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5775, 6078], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6078, 6471], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6472, 6831], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6831, 7307], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7307, 7443], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7444, 7965], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8058, 8365], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [46, 3623], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1907, 4074], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4074, 5467], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5775, 6078], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6078, 6831], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6831, 7443], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7444, 7965], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8058, 8365], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300840.json b/annotations/task-0030/episode_00300840.json new file mode 100644 index 0000000000000000000000000000000000000000..198f802efdc4bf2f2733855d91f38218950ede26 --- /dev/null +++ b/annotations/task-0030/episode_00300840.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9426, + "valid_duration": [30, 9456] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 466], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [466, 1383], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1383, 1875], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1875, 2256], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2256, 2985], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3009, 3432], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3696, 4319], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4412, 4886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5086, 5723], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5723, 6606], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7050, 7276], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7276, 7419], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7419, 7746], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7746, 8346], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8346, 8504], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8614, 9156], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9156, 9456], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 4319], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1875, 4886], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5086, 6606], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7050, 7276], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7276, 7746], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7746, 8504], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8614, 9156], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9156, 9456], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300850.json b/annotations/task-0030/episode_00300850.json new file mode 100644 index 0000000000000000000000000000000000000000..9df3b188e931591b26dbedf560ff9730a2dac0b6 --- /dev/null +++ b/annotations/task-0030/episode_00300850.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9083, + "valid_duration": [46, 9129] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [46, 711], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [711, 2661], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2661, 3126], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3126, 3565], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3596, 4207], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4208, 4508], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4508, 4938], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4938, 5300], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5301, 6127], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6127, 6909], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7144, 7384], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7385, 7639], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7640, 7936], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7936, 8073], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8073, 8223], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8223, 8922], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8922, 9129], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [46, 4938], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3126, 5300], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5301, 6909], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7144, 7384], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7385, 7936], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7936, 8223], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8223, 8922], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8922, 9129], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300890.json b/annotations/task-0030/episode_00300890.json new file mode 100644 index 0000000000000000000000000000000000000000..2617a5167a7110c59dceec0bca3053b88e5a5580 --- /dev/null +++ b/annotations/task-0030/episode_00300890.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10002, + "valid_duration": [54, 10056] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [54, 1232], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1366, 2082], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2155, 2638], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2639, 2829], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2898, 3390], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3448, 4184], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4185, 4822], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4930, 5284], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5523, 6210], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6318, 6749], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6831, 7149], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7171, 7726], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7726, 8111], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8112, 8971], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8980, 9150], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9210, 9607], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9694, 10056], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [54, 4822], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2639, 5284], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5523, 6749], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6831, 7149], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7171, 8111], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8112, 9150], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9210, 9607], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9694, 10056], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300930.json b/annotations/task-0030/episode_00300930.json new file mode 100644 index 0000000000000000000000000000000000000000..ef7b0066a4098565d19de3418ed365b21536cf94 --- /dev/null +++ b/annotations/task-0030/episode_00300930.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10101, + "valid_duration": [0, 10101] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1140], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1146, 2034], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2040, 2370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2370, 2970], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2970, 3540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3585, 4128], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4140, 5010], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5040, 5469], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5469, 6060], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6060, 6600], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6630, 7080], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7080, 7560], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7560, 8070], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8070, 8925], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8925, 9111], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9112, 9690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9711, 10101], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5010], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2370, 5469], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5469, 6600], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6630, 7080], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7080, 8070], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8070, 9111], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9112, 9690], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9711, 10101], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300940.json b/annotations/task-0030/episode_00300940.json new file mode 100644 index 0000000000000000000000000000000000000000..60741a34f4c8a4b23e974bdf6edeae580b4328d5 --- /dev/null +++ b/annotations/task-0030/episode_00300940.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 11240, + "valid_duration": [0, 11240] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 480], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1682, 3969], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4089, 4454], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4455, 4890], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5070, 5343], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5463, 6232], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6301, 6855], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6885, 7322], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7322, 7750], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7915, 8467], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8616, 8982], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9001, 9296], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9546, 9812], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9840, 10356], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10357, 10473], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10501, 10912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11013, 11240], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 6855], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4455, 7322], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7322, 8467], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8616, 8982], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9001, 9812], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9840, 10473], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10501, 10912], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11013, 11240], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300950.json b/annotations/task-0030/episode_00300950.json new file mode 100644 index 0000000000000000000000000000000000000000..bfae0ec5b868d25eaddcf7719003db075b5a7a23 --- /dev/null +++ b/annotations/task-0030/episode_00300950.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 12240, + "valid_duration": [0, 12240] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 585], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [979, 2970], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3396, 3970], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3970, 4589], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4869, 5331], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5392, 5709], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5828, 6549], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6676, 7158], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7462, 8340], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8499, 9080], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9142, 9373], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9446, 9824], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10043, 10353], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10359, 11175], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11187, 11358], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11455, 11917], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11966, 12240], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 6549], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3970, 7158], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7462, 9080], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9142, 9373], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9446, 10353], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10359, 11358], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11455, 11917], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11966, 12240], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300960.json b/annotations/task-0030/episode_00300960.json new file mode 100644 index 0000000000000000000000000000000000000000..4769eb555500824fa1f61c2663f75ff4a3c248fb --- /dev/null +++ b/annotations/task-0030/episode_00300960.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9449, + "valid_duration": [23, 9472] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [23, 466], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [474, 2527], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2599, 3007], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3007, 3339], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3339, 3912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4092, 4563], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4563, 5085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5142, 5505], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5505, 6306], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6420, 7290], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7290, 7632], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7632, 7721], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7721, 8100], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8133, 8634], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8634, 8767], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8799, 9273], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9363, 9472], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [23, 5085], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3007, 5505], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5505, 7290], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7290, 7632], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7632, 8100], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8133, 8767], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8799, 9273], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9363, 9472], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300970.json b/annotations/task-0030/episode_00300970.json new file mode 100644 index 0000000000000000000000000000000000000000..926dfc3853b3e8981188832732dfeec9458452b0 --- /dev/null +++ b/annotations/task-0030/episode_00300970.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8123, + "valid_duration": [60, 8183] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 553], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1020, 1670], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1671, 2103], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2103, 2511], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2511, 3004], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3004, 3175], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3266, 4005], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4005, 4548], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4650, 5137], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5180, 5658], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5820, 6120], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6120, 6264], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6390, 6747], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6748, 6964], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6964, 7110], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7149, 7682], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7819, 8183], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 4005], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2103, 4548], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4650, 5658], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5820, 6120], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6120, 6747], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6748, 7110], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7149, 7682], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7819, 8183], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00300980.json b/annotations/task-0030/episode_00300980.json new file mode 100644 index 0000000000000000000000000000000000000000..fba1ff5afead21f41ea6e7b71ef939330f0d88e3 --- /dev/null +++ b/annotations/task-0030/episode_00300980.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6825, + "valid_duration": [0, 6825] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 502], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [877, 1528], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1529, 1914], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1914, 2191], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2191, 2620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2620, 2875], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2905, 3255], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3255, 3678], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3678, 4182], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4263, 4761], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4947, 5115], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5115, 5238], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5331, 5532], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5562, 6069], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6099, 6219], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6228, 6565], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6655, 6825], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3255], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1914, 3678], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3678, 4761], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4947, 5115], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5115, 5532], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5562, 6219], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6228, 6565], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6655, 6825], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301000.json b/annotations/task-0030/episode_00301000.json new file mode 100644 index 0000000000000000000000000000000000000000..6f8fedafc8842a48a7e7c7ae449f5af9b9f42079 --- /dev/null +++ b/annotations/task-0030/episode_00301000.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8502, + "valid_duration": [60, 8562] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 277], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [277, 1296], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1296, 1683], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1683, 2063], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2063, 2593], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2593, 2820], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2820, 3168], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3168, 3836], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3836, 4941], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4941, 5746], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6183, 6345], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6345, 6582], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6582, 7135], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7135, 7526], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7526, 7672], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7672, 8163], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8279, 8562], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 3168], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1683, 3836], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3836, 5746], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6183, 6345], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6345, 7135], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7135, 7672], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7672, 8163], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8279, 8562], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301010.json b/annotations/task-0030/episode_00301010.json new file mode 100644 index 0000000000000000000000000000000000000000..9886f3ac2088a67ec40f82d77c9bcaf212082852 --- /dev/null +++ b/annotations/task-0030/episode_00301010.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 13560, + "valid_duration": [0, 13560] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 642], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [642, 2502], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2505, 3072], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3072, 3183], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3183, 4053], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4054, 4570], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4570, 5439], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5439, 6113], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6119, 8007], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8007, 9003], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10056, 10350], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10350, 11055], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11055, 11862], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11862, 12263], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12263, 12426], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12426, 12993], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13073, 13560], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5439], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3072, 6113], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6119, 9003], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10056, 10350], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10350, 11862], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11862, 12426], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12426, 12993], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13073, 13560], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301020.json b/annotations/task-0030/episode_00301020.json new file mode 100644 index 0000000000000000000000000000000000000000..28604243ccd91040443acc95c1d6c6738ba299a8 --- /dev/null +++ b/annotations/task-0030/episode_00301020.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8728, + "valid_duration": [0, 8728] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 943], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1122, 2109], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2178, 2596], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2596, 3333], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3500, 3849], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3852, 4377], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4474, 4836], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4872, 5155], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5173, 5525], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5550, 6009], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6457, 6707], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6747, 6918], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6937, 7263], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7278, 7712], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7716, 7860], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7890, 8351], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8389, 8728], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4836], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2596, 5155], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5173, 6009], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6457, 6707], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6747, 7263], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7278, 7860], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7890, 8351], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8389, 8728], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301030.json b/annotations/task-0030/episode_00301030.json new file mode 100644 index 0000000000000000000000000000000000000000..44a94635a92841f420d4723add00b9e509345d2f --- /dev/null +++ b/annotations/task-0030/episode_00301030.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10028, + "valid_duration": [61, 10089] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [61, 1003], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1003, 1842], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1842, 2264], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2264, 2766], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2766, 3370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3370, 4180], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4181, 4790], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4791, 5386], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5386, 6565], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6566, 7378], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7378, 7898], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7898, 8060], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8061, 8496], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8496, 8994], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8994, 9173], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9173, 9685], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9685, 10089], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [61, 4790], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2264, 5386], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5386, 7378], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7378, 7898], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7898, 8496], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8496, 9173], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9173, 9685], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9685, 10089], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301040.json b/annotations/task-0030/episode_00301040.json new file mode 100644 index 0000000000000000000000000000000000000000..bd6e4885178aa99a0e501589aafe917db9c433a2 --- /dev/null +++ b/annotations/task-0030/episode_00301040.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7542, + "valid_duration": [46, 7588] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [46, 261], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [261, 1010], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1010, 1379], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1379, 1527], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1527, 2193], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2194, 2658], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2658, 3177], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3177, 3739], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3740, 4595], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4596, 4912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4912, 5252], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5253, 5591], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5591, 6066], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6066, 6506], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6506, 6661], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6662, 7140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7140, 7588], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [46, 3177], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1379, 3739], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3740, 4912], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4912, 5252], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5253, 6066], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6066, 6661], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6662, 7140], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7140, 7588], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301060.json b/annotations/task-0030/episode_00301060.json new file mode 100644 index 0000000000000000000000000000000000000000..cea41269a191033f70253806150ae6560a98c002 --- /dev/null +++ b/annotations/task-0030/episode_00301060.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7260, + "valid_duration": [30, 7290] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 420], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [420, 1056], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1057, 1621], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1621, 1834], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1834, 2274], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2274, 2761], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2761, 3092], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3092, 3581], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3581, 4496], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4496, 4922], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4923, 5252], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5252, 5550], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5551, 6021], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6021, 6237], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6237, 6398], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6399, 6918], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6919, 7290], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 3092], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1621, 3581], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3581, 4922], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4923, 5252], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5252, 6021], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6021, 6398], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6399, 6918], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6919, 7290], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301070.json b/annotations/task-0030/episode_00301070.json new file mode 100644 index 0000000000000000000000000000000000000000..b1b56d0d8dade65380bf823e39569c6eb139494d --- /dev/null +++ b/annotations/task-0030/episode_00301070.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9988, + "valid_duration": [30, 10018] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 805], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [805, 2443], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2443, 3140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3141, 3478], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3479, 4255], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4255, 4775], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4788, 5556], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5556, 6024], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6024, 6873], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6873, 7332], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7332, 7646], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7646, 7794], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7794, 8402], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8402, 9076], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9076, 9231], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9232, 9637], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9637, 10018], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 5556], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3141, 6024], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6024, 7332], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7332, 7646], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7646, 8402], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8402, 9231], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9232, 9637], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9637, 10018], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301080.json b/annotations/task-0030/episode_00301080.json new file mode 100644 index 0000000000000000000000000000000000000000..7cc60815110b04077e0fb7f5e883c13d6d49c4b1 --- /dev/null +++ b/annotations/task-0030/episode_00301080.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7550, + "valid_duration": [0, 7550] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 856], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [856, 1500], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1500, 2040], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2040, 2339], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2339, 2865], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2865, 3120], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3120, 3510], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3510, 3720], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3720, 4540], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4540, 4896], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4998, 5353], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5353, 5612], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5612, 6156], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6156, 6389], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6389, 6539], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6539, 6903], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6963, 7550], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3510], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2040, 3720], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3720, 4896], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4998, 5353], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5353, 6156], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6156, 6539], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6539, 6903], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6963, 7550], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301090.json b/annotations/task-0030/episode_00301090.json new file mode 100644 index 0000000000000000000000000000000000000000..76b3263f543f596a31fdc7f3e6177ffb5098262f --- /dev/null +++ b/annotations/task-0030/episode_00301090.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8038, + "valid_duration": [49, 8087] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [49, 549], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [549, 2262], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2262, 2787], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2787, 3059], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3059, 3625], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3625, 3912], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3912, 4301], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4301, 4660], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4660, 5306], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5306, 5921], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5921, 6447], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6447, 6760], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6760, 7149], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7149, 7290], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7290, 7432], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7432, 7800], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7800, 8087], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [49, 4301], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2787, 4660], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4660, 5921], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5921, 6447], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6447, 7149], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7149, 7432], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7432, 7800], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7800, 8087], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301100.json b/annotations/task-0030/episode_00301100.json new file mode 100644 index 0000000000000000000000000000000000000000..cd280a279e2f4bd188354cd36ec4b9e1becb5348 --- /dev/null +++ b/annotations/task-0030/episode_00301100.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7316, + "valid_duration": [60, 7376] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1188], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1188, 1651], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1651, 1997], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1997, 2116], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2116, 2580], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2580, 3330], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3330, 3884], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3884, 4247], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4247, 4800], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4800, 5145], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5279, 5649], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5649, 5695], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5695, 6098], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6098, 6301], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6301, 6452], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6452, 6960], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6960, 7376], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 3884], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1997, 4247], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4247, 5145], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5279, 5649], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5649, 6098], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6098, 6452], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6452, 6960], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6960, 7376], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301110.json b/annotations/task-0030/episode_00301110.json new file mode 100644 index 0000000000000000000000000000000000000000..8e19de9d2f5304a82ca9bc937027173d6107cd7a --- /dev/null +++ b/annotations/task-0030/episode_00301110.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7216, + "valid_duration": [0, 7216] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 787], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [787, 1510], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1511, 1941], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1941, 2299], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2299, 2747], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2747, 3027], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3027, 3360], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3360, 3668], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3669, 4520], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4520, 5122], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5123, 5421], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5421, 5570], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5570, 6026], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6026, 6338], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6338, 6466], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6466, 6831], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6831, 7216], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3360], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1941, 3668], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3669, 5122], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5123, 5421], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5421, 6026], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6026, 6466], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6466, 6831], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6831, 7216], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301120.json b/annotations/task-0030/episode_00301120.json new file mode 100644 index 0000000000000000000000000000000000000000..f3aa71a1b5c7f9ede058eb2efa7fb0fa59f26ca8 --- /dev/null +++ b/annotations/task-0030/episode_00301120.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8078, + "valid_duration": [90, 8168] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 330], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [330, 1610], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1610, 2082], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2082, 2522], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2522, 3131], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3131, 3471], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3471, 4084], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4084, 4446], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4446, 5116], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5116, 5575], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5790, 6089], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6089, 6402], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6402, 6853], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6853, 7252], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7252, 7414], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7414, 7860], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7860, 8168], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 4084], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2082, 4446], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4446, 5575], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5790, 6089], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6089, 6853], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6853, 7414], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7414, 7860], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7860, 8168], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301140.json b/annotations/task-0030/episode_00301140.json new file mode 100644 index 0000000000000000000000000000000000000000..b0143f2e8f2c6251c0b8dc623db688a8215e50e3 --- /dev/null +++ b/annotations/task-0030/episode_00301140.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7850, + "valid_duration": [0, 7850] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 851], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [851, 1923], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1923, 2516], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2516, 2838], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2838, 3367], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3367, 3499], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3499, 3777], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3777, 4203], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4203, 4662], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4662, 5107], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5107, 5358], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5358, 5507], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5507, 6031], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6031, 6726], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["firewood_75", "lighter_73"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6726, 6897], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6897, 7369], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7369, 7850], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3777], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2516, 4203], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4203, 5107], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5107, 5358], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5358, 6031], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["firewood_75", "lighter_73"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6031, 6897], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6897, 7369], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7369, 7850], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301150.json b/annotations/task-0030/episode_00301150.json new file mode 100644 index 0000000000000000000000000000000000000000..36f1be8cf6c0a36d31e2f00adcaa2817bc2bac9a --- /dev/null +++ b/annotations/task-0030/episode_00301150.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7950, + "valid_duration": [60, 8010] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 330], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [330, 1141], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1141, 2246], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2246, 2610], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2610, 3211], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3212, 3604], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3605, 3971], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3971, 4356], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4356, 4843], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4843, 5600], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5600, 6000], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6000, 6257], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6260, 6720], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6720, 7051], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7051, 7201], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7201, 7616], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7616, 8010], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 3971], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2246, 4356], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4356, 5600], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5600, 6000], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6000, 6720], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6720, 7201], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7201, 7616], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7616, 8010], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301160.json b/annotations/task-0030/episode_00301160.json new file mode 100644 index 0000000000000000000000000000000000000000..3a15b8cac06cc11034df39ae32485c8266d7a2e0 --- /dev/null +++ b/annotations/task-0030/episode_00301160.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6177, + "valid_duration": [38, 6215] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [38, 363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [363, 886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [886, 1197], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1197, 1260], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1260, 1824], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1824, 2200], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2200, 2643], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2643, 3051], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3051, 3680], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3680, 4204], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4204, 4468], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4468, 4627], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4627, 5186], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5186, 5403], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5403, 5537], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5537, 5967], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5967, 6215], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [38, 2643], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1197, 3051], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3051, 4204], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4204, 4468], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4468, 5186], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5186, 5537], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5537, 5967], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5967, 6215], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301170.json b/annotations/task-0030/episode_00301170.json new file mode 100644 index 0000000000000000000000000000000000000000..f6a4a7cf0e72ac2d319cc26c52726db6ad0d68f6 --- /dev/null +++ b/annotations/task-0030/episode_00301170.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7840, + "valid_duration": [40, 7880] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 480], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [480, 1150], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1150, 1501], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1501, 2221], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2226, 2807], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2807, 3267], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3267, 3592], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3592, 3997], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3997, 4963], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4963, 5288], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5349, 5623], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5623, 5869], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5869, 6244], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6244, 7010], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7010, 7160], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7160, 7620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7620, 7880], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 3592], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1501, 3997], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3997, 5288], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5349, 5623], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5623, 6244], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6244, 7160], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7160, 7620], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7620, 7880], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301180.json b/annotations/task-0030/episode_00301180.json new file mode 100644 index 0000000000000000000000000000000000000000..236d5ad67044fe0cea0ba74a4d491fde7c571d0f --- /dev/null +++ b/annotations/task-0030/episode_00301180.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7165, + "valid_duration": [0, 7165] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 390], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "floors_ulujpr_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [390, 902], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [902, 1222], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1222, 1493], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1493, 1971], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1971, 2613], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2613, 3093], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3093, 3480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3480, 4067], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4067, 4602], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4602, 4938], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4938, 5066], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5066, 5547], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5547, 6164], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6164, 6317], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6317, 6791], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6797, 7165], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3093], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1222, 3480], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3480, 4602], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4602, 4938], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4938, 5547], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5547, 6317], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6317, 6791], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6797, 7165], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301190.json b/annotations/task-0030/episode_00301190.json new file mode 100644 index 0000000000000000000000000000000000000000..d47cf36dac62fb8130bd9fd9289c3c3846373fd1 --- /dev/null +++ b/annotations/task-0030/episode_00301190.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7886, + "valid_duration": [0, 7886] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 225], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [225, 1836], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1836, 2229], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2232, 2334], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2334, 2934], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2934, 3348], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3348, 3813], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3813, 4179], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4179, 4719], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4719, 5594], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5594, 5880], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5880, 6105], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6105, 6516], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6516, 6823], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6823, 6982], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6982, 7382], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7382, 7886], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3813], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2232, 4179], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4179, 5594], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5594, 5880], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5880, 6516], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6516, 6982], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6982, 7382], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7382, 7886], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301200.json b/annotations/task-0030/episode_00301200.json new file mode 100644 index 0000000000000000000000000000000000000000..fd420f1bca2681c7cf8485f1395c5573b5e97a8d --- /dev/null +++ b/annotations/task-0030/episode_00301200.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9690, + "valid_duration": [0, 9690] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 871], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [871, 1740], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1740, 2253], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2253, 2475], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2475, 2827], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2827, 3495], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3495, 4423], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4423, 4837], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4837, 6279], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6279, 6693], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7254, 7435], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7464, 7983], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7983, 8401], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8401, 8835], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8835, 8970], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8970, 9390], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9390, 9690], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4423], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2253, 4837], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4837, 6693], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7254, 7435], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7464, 8401], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8401, 8970], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8970, 9390], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9390, 9690], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301210.json b/annotations/task-0030/episode_00301210.json new file mode 100644 index 0000000000000000000000000000000000000000..ad2602153210079c7b2396fff425bc8a76782362 --- /dev/null +++ b/annotations/task-0030/episode_00301210.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9870, + "valid_duration": [0, 9870] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 582], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [579, 2022], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2049, 2505], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2505, 2958], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2970, 3375], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3375, 3600], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3600, 3993], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4025, 4323], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4359, 6333], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6480, 6939], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7255, 7701], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7701, 7931], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8081, 8442], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8458, 8956], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8981, 9090], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9090, 9474], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9582, 9870], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3993], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2505, 4323], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4359, 6939], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7255, 7701], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7701, 8442], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8458, 9090], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9090, 9474], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9582, 9870], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301220.json b/annotations/task-0030/episode_00301220.json new file mode 100644 index 0000000000000000000000000000000000000000..94b442230e9d161c241071596b777afa7a7d1422 --- /dev/null +++ b/annotations/task-0030/episode_00301220.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6730, + "valid_duration": [0, 6730] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 270], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [288, 831], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [847, 1056], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1056, 1357], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1395, 1930], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1964, 2638], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2668, 3022], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3037, 3291], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3291, 4280], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4311, 4719], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4719, 5034], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5049, 5134], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5134, 5456], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5457, 5727], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5728, 5919], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5943, 6301], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6362, 6730], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3022], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1056, 3291], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3291, 4719], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4719, 5034], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5049, 5456], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5457, 5919], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5943, 6301], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6362, 6730], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301230.json b/annotations/task-0030/episode_00301230.json new file mode 100644 index 0000000000000000000000000000000000000000..85c4dc45a96a3fc18c68fd8f4ff9d120622bed48 --- /dev/null +++ b/annotations/task-0030/episode_00301230.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6197, + "valid_duration": [0, 6197] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 500], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [500, 1328], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1358, 1678], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1678, 1878], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1878, 2323], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2323, 2545], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2575, 2940], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2940, 3262], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3268, 3725], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3758, 4201], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4355, 4711], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4711, 4918], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4918, 5199], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5217, 5430], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5430, 5573], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5573, 5993], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6023, 6197], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2940], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1678, 3262], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3268, 4201], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4355, 4711], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4711, 5199], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5217, 5573], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5573, 5993], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6023, 6197], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301240.json b/annotations/task-0030/episode_00301240.json new file mode 100644 index 0000000000000000000000000000000000000000..51d4ab61ed5c7b55277a30e1c6fa0566062eaa7a --- /dev/null +++ b/annotations/task-0030/episode_00301240.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7484, + "valid_duration": [0, 7484] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 843], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [954, 1978], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1978, 2801], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2801, 3347], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3348, 3845], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3845, 3942], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3942, 4447], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4447, 4821], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4821, 5229], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5229, 5630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5630, 5927], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5928, 6197], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6198, 6501], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6502, 6764], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6765, 6903], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6903, 7242], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7242, 7484], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4447], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2801, 4821], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4821, 5630], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5630, 5927], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5928, 6501], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6502, 6903], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6903, 7242], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7242, 7484], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301250.json b/annotations/task-0030/episode_00301250.json new file mode 100644 index 0000000000000000000000000000000000000000..d63c58e12fd9135bee15b5ad61b4a9940dc6caf7 --- /dev/null +++ b/annotations/task-0030/episode_00301250.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9614, + "valid_duration": [42, 9656] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 721], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [730, 2128], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2347, 2748], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2749, 3583], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3584, 3960], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3973, 4800], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4801, 5469], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5499, 5818], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5860, 6213], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6380, 6990], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7303, 7445], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7494, 7947], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7977, 8323], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8326, 8823], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8897, 9021], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9030, 9427], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9509, 9656], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 5469], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2749, 5818], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5860, 6990], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7303, 7445], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7494, 8323], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8326, 9021], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9030, 9427], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9509, 9656], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301260.json b/annotations/task-0030/episode_00301260.json new file mode 100644 index 0000000000000000000000000000000000000000..d2ac2ed99ab2a15875f3a8ba9e9a7afe24b79f81 --- /dev/null +++ b/annotations/task-0030/episode_00301260.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8804, + "valid_duration": [44, 8848] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [44, 694], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [776, 1420], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1623, 2002], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2002, 2272], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2392, 2575], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2580, 2809], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2809, 3166], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3223, 3466], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3467, 5188], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5192, 5963], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6616, 6822], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6822, 7126], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7145, 7586], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7595, 8064], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8064, 8204], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8204, 8640], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8689, 8848], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [44, 3166], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2002, 3466], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3467, 5963], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6616, 6822], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6822, 7586], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7595, 8204], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8204, 8640], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8689, 8848], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301270.json b/annotations/task-0030/episode_00301270.json new file mode 100644 index 0000000000000000000000000000000000000000..e02d0a79082f70ae1421b6ce3bf23069c3da3b42 --- /dev/null +++ b/annotations/task-0030/episode_00301270.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9389, + "valid_duration": [0, 9389] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 717], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [717, 1616], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1616, 2099], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2099, 2470], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2470, 2779], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2779, 2964], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2964, 3252], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3252, 3592], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3777, 5259], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5259, 6144], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6870, 7213], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7213, 7590], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7590, 8151], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8151, 8450], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8450, 8596], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8596, 9109], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9148, 9389], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3252], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2099, 3592], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3777, 6144], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6870, 7213], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7213, 8151], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8151, 8596], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8596, 9109], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9148, 9389], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301280.json b/annotations/task-0030/episode_00301280.json new file mode 100644 index 0000000000000000000000000000000000000000..c64d90a5b15c665425a6caef497c7a284593afcc --- /dev/null +++ b/annotations/task-0030/episode_00301280.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8228, + "valid_duration": [80, 8308] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [80, 470], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [480, 1110], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1662, 1950], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2100, 2303], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2312, 2722], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2759, 2979], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3000, 3420], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3458, 3840], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3840, 5070], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5651, 6166], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6416, 6519], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6600, 6747], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6843, 7056], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7110, 7530], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7531, 7681], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7682, 8042], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8158, 8308], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [80, 3420], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2100, 3840], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3840, 6166], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6416, 6519], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6600, 7056], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7110, 7681], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7682, 8042], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8158, 8308], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301300.json b/annotations/task-0030/episode_00301300.json new file mode 100644 index 0000000000000000000000000000000000000000..56a6485160058323baa78cf859e5c3f8f5b43646 --- /dev/null +++ b/annotations/task-0030/episode_00301300.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8337, + "valid_duration": [60, 8397] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 606], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1146, 2103], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2253, 2487], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2487, 2595], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2881, 3216], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3217, 3729], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3730, 4192], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4222, 4599], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4600, 5190], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5550, 6300], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6496, 6673], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6673, 6936], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6936, 7263], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7341, 7482], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7482, 7860], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7860, 8175], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8206, 8397], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 4192], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2487, 4599], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4600, 6300], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6496, 6673], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6673, 7263], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7341, 7860], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7860, 8175], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8206, 8397], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301310.json b/annotations/task-0030/episode_00301310.json new file mode 100644 index 0000000000000000000000000000000000000000..b2cbaebdf0d7611ba762eb3509878b8408ca1b2b --- /dev/null +++ b/annotations/task-0030/episode_00301310.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6120, + "valid_duration": [30, 6150] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 256], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [288, 1230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1258, 1615], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1615, 1746], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1766, 2130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2130, 2385], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2411, 2910], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2910, 3246], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3246, 3801], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3859, 4155], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4200, 4368], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4395, 4710], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4731, 5130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5160, 5367], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5367, 5514], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5580, 5922], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5970, 6150], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2910], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1615, 3246], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3246, 4155], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4200, 4368], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4395, 5130], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5160, 5514], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5580, 5922], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5970, 6150], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301410.json b/annotations/task-0030/episode_00301410.json new file mode 100644 index 0000000000000000000000000000000000000000..30bf692d7dd02c4f65502464a3f2a69ec7092e24 --- /dev/null +++ b/annotations/task-0030/episode_00301410.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6729, + "valid_duration": [27, 6756] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [27, 158], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [158, 1166], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1166, 1434], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1434, 1774], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1774, 2308], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2309, 3129], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3129, 3487], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3487, 3876], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3876, 4356], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4356, 4757], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4940, 5243], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5243, 5350], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5350, 5808], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5808, 5893], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5893, 6033], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6033, 6446], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6521, 6756], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [27, 3487], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1434, 3876], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3876, 4757], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4940, 5243], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5243, 5808], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5808, 6033], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6033, 6446], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6521, 6756], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301420.json b/annotations/task-0030/episode_00301420.json new file mode 100644 index 0000000000000000000000000000000000000000..da70abf6df976366521517b2644689dabf2b4d2a --- /dev/null +++ b/annotations/task-0030/episode_00301420.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7925, + "valid_duration": [48, 7973] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [48, 192], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [192, 1569], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1569, 2030], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2030, 2148], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2148, 2756], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2756, 3412], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3412, 3809], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3809, 4268], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4269, 4636], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4636, 5217], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5217, 5571], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5571, 6029], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6029, 6465], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6465, 7099], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["firewood_75", "lighter_73"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7100, 7230], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7230, 7738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7739, 7973], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [48, 3809], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2030, 4268], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4269, 5217], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5217, 5571], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5571, 6465], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["firewood_75", "lighter_73"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6465, 7230], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7230, 7738], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7739, 7973], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301430.json b/annotations/task-0030/episode_00301430.json new file mode 100644 index 0000000000000000000000000000000000000000..d97812523a0781d1d7e1f4416243743d8f24d992 --- /dev/null +++ b/annotations/task-0030/episode_00301430.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7073, + "valid_duration": [50, 7123] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [50, 415], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [415, 1015], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1016, 1365], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1365, 1682], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1682, 2189], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2189, 2468], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2468, 3029], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3029, 3577], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3577, 4420], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4420, 4826], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4926, 5259], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5259, 5541], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5542, 5943], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5944, 6173], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6173, 6310], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6310, 6814], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6814, 7123], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [50, 3029], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1365, 3577], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3577, 4826], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4926, 5259], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5259, 5943], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5944, 6310], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6310, 6814], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6814, 7123], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301440.json b/annotations/task-0030/episode_00301440.json new file mode 100644 index 0000000000000000000000000000000000000000..8c03de0b6e1e7b3648a2eb3447290ae471ff517b --- /dev/null +++ b/annotations/task-0030/episode_00301440.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7707, + "valid_duration": [60, 7767] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 778], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [778, 1520], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1520, 1969], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1969, 2140], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2140, 2591], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2615, 2835], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2835, 3259], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3259, 3630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3630, 3992], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3992, 4878], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4986, 5517], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5517, 5835], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5835, 6261], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6261, 6834], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6834, 6981], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6981, 7373], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7435, 7767], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 3259], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1969, 3630], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3630, 4878], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4986, 5517], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5517, 6261], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6261, 6981], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6981, 7373], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7435, 7767], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301450.json b/annotations/task-0030/episode_00301450.json new file mode 100644 index 0000000000000000000000000000000000000000..85822c832fceb93a4874c6aed4471572261e9894 --- /dev/null +++ b/annotations/task-0030/episode_00301450.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7805, + "valid_duration": [72, 7877] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [72, 810], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [810, 1928], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1928, 2394], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2394, 2637], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2637, 3087], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3087, 3367], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3367, 3770], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3770, 4242], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4242, 4867], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4867, 5473], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5473, 5978], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5978, 6293], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6293, 6637], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6637, 6881], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "newspaper_74"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6881, 7032], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7032, 7383], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7487, 7877], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [72, 3770], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2394, 4242], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4242, 5473], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5473, 5978], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5978, 6637], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "newspaper_74"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6637, 7032], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7032, 7383], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7487, 7877], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301460.json b/annotations/task-0030/episode_00301460.json new file mode 100644 index 0000000000000000000000000000000000000000..adac6cdcef0d9946bd7d8b09c998b5b61704e806 --- /dev/null +++ b/annotations/task-0030/episode_00301460.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9045, + "valid_duration": [60, 9105] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 213], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [213, 939], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [939, 1215], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1215, 1740], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1740, 2308], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2308, 2655], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2655, 3163], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3163, 3597], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3597, 5025], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5025, 6173], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6568, 7016], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7016, 7284], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7284, 7953], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7953, 8340], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8340, 8478], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8478, 8855], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8855, 9105], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 3163], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1215, 3597], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3597, 6173], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6568, 7016], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7016, 7953], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7953, 8478], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8478, 8855], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8855, 9105], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301470.json b/annotations/task-0030/episode_00301470.json new file mode 100644 index 0000000000000000000000000000000000000000..e029034771423e64d7b777a04e51fd04d06bbc56 --- /dev/null +++ b/annotations/task-0030/episode_00301470.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8089, + "valid_duration": [50, 8139] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [50, 372], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [372, 1569], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1569, 2117], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2117, 2247], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2247, 2697], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2697, 3329], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3329, 3681], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3681, 4147], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4147, 4623], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4623, 5027], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5027, 5400], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5400, 5781], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5781, 6353], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6353, 7129], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7129, 7269], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7269, 7828], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7828, 8139], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [50, 3681], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2117, 4147], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4147, 5027], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5027, 5400], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5400, 6353], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6353, 7269], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7269, 7828], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7828, 8139], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301480.json b/annotations/task-0030/episode_00301480.json new file mode 100644 index 0000000000000000000000000000000000000000..df01410b7a0ddca8e354006c29fec5404efd4253 --- /dev/null +++ b/annotations/task-0030/episode_00301480.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8184, + "valid_duration": [57, 8241] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [57, 539], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [539, 1294], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1294, 1725], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1725, 2039], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2039, 2466], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2466, 3065], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3095, 3582], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3582, 4109], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4109, 4710], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4710, 5343], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5425, 5777], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5777, 6282], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6282, 6627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6627, 7226], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7226, 7384], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7384, 7830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7952, 8241], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [57, 3582], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1725, 4109], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4109, 5343], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5425, 5777], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5777, 6627], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6627, 7384], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7384, 7830], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7952, 8241], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301490.json b/annotations/task-0030/episode_00301490.json new file mode 100644 index 0000000000000000000000000000000000000000..0afd253d189a7e0891eba0162b6775e3ba65d541 --- /dev/null +++ b/annotations/task-0030/episode_00301490.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9390, + "valid_duration": [0, 9390] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 567], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [568, 2248], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2248, 2611], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2612, 3355], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3355, 3843], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3844, 3974], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3974, 4411], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4411, 4899], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4900, 6052], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6052, 6852], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6853, 7273], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7273, 7312], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7312, 7693], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7693, 8215], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["firewood_75", "lighter_73"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8216, 8369], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8369, 8914], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8914, 9390], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4411], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2612, 4899], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4900, 6852], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6853, 7273], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7273, 7693], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["firewood_75", "lighter_73"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7693, 8369], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8369, 8914], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8914, 9390], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301510.json b/annotations/task-0030/episode_00301510.json new file mode 100644 index 0000000000000000000000000000000000000000..c6caa231aba64794d965a0f3b79dd5707e28a960 --- /dev/null +++ b/annotations/task-0030/episode_00301510.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8670, + "valid_duration": [0, 8670] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 855], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [855, 2280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2310, 2820], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2880, 3555], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3555, 4005], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4005, 4395], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4395, 4785], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4788, 5073], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5073, 5613], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5613, 6012], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6121, 6482], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6483, 6699], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6699, 7011], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7014, 7602], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7602, 7763], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7764, 8280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8310, 8670], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4785], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2880, 5073], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5073, 6012], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6121, 6482], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6483, 7011], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7014, 7763], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7764, 8280], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8310, 8670], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301520.json b/annotations/task-0030/episode_00301520.json new file mode 100644 index 0000000000000000000000000000000000000000..a16246c095f344a1a69965fc97d6e3d5f478e841 --- /dev/null +++ b/annotations/task-0030/episode_00301520.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8520, + "valid_duration": [0, 8520] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1067], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1075, 2220], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2220, 2436], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2436, 2700], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2700, 3121], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3121, 3813], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3813, 4230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4231, 4681], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4682, 5790], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5940, 6465], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6465, 6763], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6774, 6841], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6841, 7260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7260, 7536], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7537, 7738], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7738, 8160], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8161, 8520], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4230], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2436, 4681], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4682, 6465], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6465, 6763], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6774, 7260], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7260, 7738], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7738, 8160], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8161, 8520], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301540.json b/annotations/task-0030/episode_00301540.json new file mode 100644 index 0000000000000000000000000000000000000000..1c672955c6c251a7bcc8c7314e40de8e4663dd62 --- /dev/null +++ b/annotations/task-0030/episode_00301540.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6933, + "valid_duration": [50, 6983] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [50, 922], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1152, 1760], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1761, 2157], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2158, 2284], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2360, 2687], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2687, 3100], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3130, 3638], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3638, 4020], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4074, 4504], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4619, 4931], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5132, 5349], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5375, 5619], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5679, 5873], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5874, 6123], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6123, 6247], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6294, 6645], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6687, 6983], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [50, 3638], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2158, 4020], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4074, 4931], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5132, 5349], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5375, 5873], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5874, 6247], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6294, 6645], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6687, 6983], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301550.json b/annotations/task-0030/episode_00301550.json new file mode 100644 index 0000000000000000000000000000000000000000..1afc3ef649483f78721b5c5b2ffffcaa538129e7 --- /dev/null +++ b/annotations/task-0030/episode_00301550.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10575, + "valid_duration": [0, 10575] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 960], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1163, 2163], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2223, 2711], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2778, 3165], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3171, 3522], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3525, 3784], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3814, 4236], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4318, 4593], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4594, 6926], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6930, 7466], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7814, 8103], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8106, 8713], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8735, 9176], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9206, 9718], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9720, 9864], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9898, 10255], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10300, 10575], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4236], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2778, 4593], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4594, 7466], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7814, 8103], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8106, 9176], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9206, 9864], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9898, 10255], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10300, 10575], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301560.json b/annotations/task-0030/episode_00301560.json new file mode 100644 index 0000000000000000000000000000000000000000..93074399fbcd56c2985298796c163fb95314cab9 --- /dev/null +++ b/annotations/task-0030/episode_00301560.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8430, + "valid_duration": [0, 8430] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 615], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [615, 2295], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2317, 2732], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2732, 2989], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2989, 3310], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3310, 3671], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3671, 4798], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4798, 5194], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5195, 5797], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5951, 6221], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6395, 6717], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6717, 6853], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6854, 7215], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7215, 7527], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7528, 7662], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7687, 8011], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8054, 8430], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4798], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2732, 5194], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5195, 6221], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6395, 6717], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6717, 7215], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7215, 7662], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7687, 8011], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8054, 8430], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301570.json b/annotations/task-0030/episode_00301570.json new file mode 100644 index 0000000000000000000000000000000000000000..71de04402d110c8ba83bc0625713279294b3c868 --- /dev/null +++ b/annotations/task-0030/episode_00301570.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8357, + "valid_duration": [0, 8357] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 659], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [677, 1448], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1547, 2136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2141, 2960], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2978, 3350], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3353, 3833], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3836, 4193], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4250, 4493], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4502, 5024], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5135, 5606], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5720, 6011], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6017, 6314], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6338, 6803], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6806, 7454], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7454, 7598], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7637, 7982], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8024, 8357], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4193], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2141, 4493], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4502, 5606], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5720, 6011], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6017, 6803], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6806, 7598], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7637, 7982], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8024, 8357], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301600.json b/annotations/task-0030/episode_00301600.json new file mode 100644 index 0000000000000000000000000000000000000000..0487c07a68a64fbc9137886c16db62f6494abe20 --- /dev/null +++ b/annotations/task-0030/episode_00301600.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9799, + "valid_duration": [11, 9810] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11, 247], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [247, 915], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [916, 1271], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1272, 1687], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1841, 2269], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2269, 2661], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2756, 3262], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3294, 3671], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3671, 5334], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5797, 6419], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7431, 8019], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8031, 8067], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8079, 8480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8554, 8863], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8904, 9035], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9045, 9516], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9611, 9810], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11, 3262], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1272, 3671], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3671, 6419], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7431, 8019], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8031, 8480], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8554, 9035], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9045, 9516], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9611, 9810], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301610.json b/annotations/task-0030/episode_00301610.json new file mode 100644 index 0000000000000000000000000000000000000000..4f2a9a46d0d9bfbcab8b69b2b179cc360342dfc8 --- /dev/null +++ b/annotations/task-0030/episode_00301610.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8583, + "valid_duration": [0, 8583] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 516], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [644, 1314], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1467, 1780], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1781, 2023], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2088, 2345], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2362, 3033], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3078, 3299], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3322, 3590], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3595, 5014], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5379, 6090], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6825, 7112], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7113, 7302], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7302, 7534], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7599, 7810], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7810, 7942], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7948, 8291], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8351, 8583], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3299], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1781, 3590], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3595, 6090], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6825, 7112], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7113, 7534], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7599, 7942], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7948, 8291], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8351, 8583], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301620.json b/annotations/task-0030/episode_00301620.json new file mode 100644 index 0000000000000000000000000000000000000000..da2ba7d7b691fdbe811af98818844c1f4cd0ae2d --- /dev/null +++ b/annotations/task-0030/episode_00301620.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8193, + "valid_duration": [0, 8193] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1050], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1051, 2152], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2460, 2726], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2726, 3143], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3174, 3619], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3664, 3799], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3862, 4176], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4176, 4571], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4643, 5495], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5495, 6350], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6350, 6565], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6655, 6779], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6844, 7149], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7149, 7419], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7419, 7571], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7571, 7850], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7930, 8193], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4176], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2726, 4571], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4643, 6350], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6350, 6565], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6655, 7149], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7149, 7571], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7571, 7850], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7930, 8193], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301630.json b/annotations/task-0030/episode_00301630.json new file mode 100644 index 0000000000000000000000000000000000000000..6866fddfefd4131384ba4bafff9a6e9e9a1e03e1 --- /dev/null +++ b/annotations/task-0030/episode_00301630.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8686, + "valid_duration": [0, 8686] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 945], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [946, 2760], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3061, 3480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3480, 3707], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3751, 4443], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4443, 4533], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4562, 5043], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5113, 5370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5370, 5914], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5914, 6421], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6540, 6702], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6705, 7181], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7182, 7540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7541, 7719], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7722, 7826], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7868, 8342], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8342, 8686], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5043], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3480, 5370], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5370, 6421], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6540, 6702], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6705, 7540], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7541, 7826], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7868, 8342], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8342, 8686], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301650.json b/annotations/task-0030/episode_00301650.json new file mode 100644 index 0000000000000000000000000000000000000000..74d37df27c4a54c8da983605410be01d4769bc64 --- /dev/null +++ b/annotations/task-0030/episode_00301650.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8653, + "valid_duration": [47, 8700] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [47, 477], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [974, 2087], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2274, 2676], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2863, 3262], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3262, 3659], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3673, 3834], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3834, 4179], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4220, 4604], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4753, 5737], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6219, 6504], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6689, 6848], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6849, 7099], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7211, 7427], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7448, 7789], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7821, 7970], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8065, 8393], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8496, 8700], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [47, 4179], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2863, 4604], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4753, 6504], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6689, 6848], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6849, 7427], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7448, 7970], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8065, 8393], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8496, 8700], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301660.json b/annotations/task-0030/episode_00301660.json new file mode 100644 index 0000000000000000000000000000000000000000..c15b0e2473a70bed5bf402d344ba17490eae7f0a --- /dev/null +++ b/annotations/task-0030/episode_00301660.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10291, + "valid_duration": [38, 10329] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [38, 861], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1042, 1730], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2001, 2368], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2556, 2764], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2944, 3346], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3347, 3487], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3493, 3883], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3884, 4306], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4306, 5973], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6507, 7545], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7898, 8355], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8355, 8777], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8897, 9272], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9272, 9480], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9480, 9635], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9646, 10026], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10089, 10329], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [38, 3883], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2556, 4306], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4306, 7545], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7898, 8355], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8355, 9272], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9272, 9635], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9646, 10026], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10089, 10329], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301670.json b/annotations/task-0030/episode_00301670.json new file mode 100644 index 0000000000000000000000000000000000000000..1b1a00a95f4739d3a18007da3294e35befcaf56c --- /dev/null +++ b/annotations/task-0030/episode_00301670.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8019, + "valid_duration": [40, 8059] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 718], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1044, 1993], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2233, 2703], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2790, 3420], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3420, 3870], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3870, 4050], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4050, 4425], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4464, 4740], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4848, 5323], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5395, 5835], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5880, 6240], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6240, 6435], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6435, 6726], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6726, 7200], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7233, 7410], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7410, 7800], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7818, 8059], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 4425], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2790, 4740], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4848, 5835], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5880, 6240], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6240, 6726], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6726, 7410], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7410, 7800], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7818, 8059], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301690.json b/annotations/task-0030/episode_00301690.json new file mode 100644 index 0000000000000000000000000000000000000000..b756e3e97c78eebe96f4631b8605f1bd1878f31c --- /dev/null +++ b/annotations/task-0030/episode_00301690.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7394, + "valid_duration": [0, 7394] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 543], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [543, 1725], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1914, 2450], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2456, 2871], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2880, 3236], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3240, 3498], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3510, 3933], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3984, 4196], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4196, 4740], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4761, 5138], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5244, 5527], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5531, 5871], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5880, 6255], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6270, 6626], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6630, 6762], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6780, 7174], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7254, 7394], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3933], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2456, 4196], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4196, 5138], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5244, 5527], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5531, 6255], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6270, 6762], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6780, 7174], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7254, 7394], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301700.json b/annotations/task-0030/episode_00301700.json new file mode 100644 index 0000000000000000000000000000000000000000..e6604a4edd5f7007bdca690921867dd80f4c8b45 --- /dev/null +++ b/annotations/task-0030/episode_00301700.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7128, + "valid_duration": [42, 7170] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 488], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [488, 1603], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1626, 1866], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1866, 2040], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2046, 2566], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2569, 2862], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2877, 3306], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3307, 3600], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3600, 4224], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4244, 4626], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4716, 4983], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4983, 5485], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5485, 5760], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5790, 6150], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6169, 6303], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6340, 6930], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6956, 7170], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 3306], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1866, 3600], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3600, 4626], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4716, 4983], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4983, 5760], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5790, 6303], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6340, 6930], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6956, 7170], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301710.json b/annotations/task-0030/episode_00301710.json new file mode 100644 index 0000000000000000000000000000000000000000..b634ed775e295b113261e1cbfb3af2e9eea6fadd --- /dev/null +++ b/annotations/task-0030/episode_00301710.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7444, + "valid_duration": [26, 7470] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [26, 390], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [390, 2193], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2313, 2730], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2745, 2838], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2940, 3219], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3285, 3561], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3561, 3990], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4017, 4380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4410, 4796], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4831, 5171], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5400, 5668], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5670, 5820], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5850, 6060], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6075, 6390], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6396, 7427], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6540, 7050], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7170, 7470], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [26, 3990], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2745, 4380], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4410, 5171], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5400, 5668], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5670, 6060], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6075, 7427], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6540, 7050], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7170, 7470], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301720.json b/annotations/task-0030/episode_00301720.json new file mode 100644 index 0000000000000000000000000000000000000000..1943741c036836f815a2cfbb12680369163cfd3e --- /dev/null +++ b/annotations/task-0030/episode_00301720.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9428, + "valid_duration": [22, 9450] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [22, 660], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [660, 1645], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1680, 2523], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2613, 2807], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2823, 3219], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3220, 3723], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3751, 4266], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4266, 4620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4620, 6000], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6014, 6610], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7242, 7488], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7518, 7935], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7986, 8400], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8404, 8715], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8729, 8850], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8856, 9129], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9225, 9450], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [22, 4266], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2613, 4620], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4620, 6610], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7242, 7488], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7518, 8400], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8404, 8850], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8856, 9129], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9225, 9450], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301730.json b/annotations/task-0030/episode_00301730.json new file mode 100644 index 0000000000000000000000000000000000000000..1121e1dd8f5dc3badb763c0df7502782c51ed6a1 --- /dev/null +++ b/annotations/task-0030/episode_00301730.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7440, + "valid_duration": [30, 7470] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 426], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [426, 1200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1320, 1656], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1656, 2040], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2085, 2553], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2553, 2745], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2775, 3225], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3285, 3681], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3681, 4293], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4353, 4830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5208, 5673], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5685, 5778], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5838, 6210], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6210, 6705], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6705, 6855], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6870, 7200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7260, 7470], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 3225], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1656, 3681], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3681, 4830], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5208, 5673], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5685, 6210], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6210, 6855], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6870, 7200], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7260, 7470], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301740.json b/annotations/task-0030/episode_00301740.json new file mode 100644 index 0000000000000000000000000000000000000000..d227c7d597ae3f505257bbc8f13e10401b7dacba --- /dev/null +++ b/annotations/task-0030/episode_00301740.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9801, + "valid_duration": [47, 9848] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [47, 983], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1007, 1721], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2015, 2267], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2267, 2776], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2777, 3190], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3202, 3442], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3454, 3706], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3754, 3970], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4156, 5655], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6147, 6849], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7413, 7758], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7796, 8102], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8216, 8558], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8648, 9068], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9080, 9200], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9206, 9560], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9632, 9848], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [47, 3706], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2267, 3970], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4156, 6849], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7413, 7758], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7796, 8558], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8648, 9200], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9206, 9560], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9632, 9848], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301760.json b/annotations/task-0030/episode_00301760.json new file mode 100644 index 0000000000000000000000000000000000000000..5d19de4340eb4ed83961aec3f9200ebb3cd0735e --- /dev/null +++ b/annotations/task-0030/episode_00301760.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7876, + "valid_duration": [18, 7894] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [18, 576], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [576, 1327], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1327, 1790], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1790, 2082], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2097, 2593], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2593, 2925], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2925, 3405], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3444, 3964], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3964, 4593], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4593, 5108], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5161, 5475], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5475, 5958], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5958, 6157], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6186, 6926], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6926, 7078], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7081, 7596], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7596, 7894], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [18, 3405], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1790, 3964], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3964, 5108], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5161, 5475], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5475, 6157], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6186, 7078], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7081, 7596], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7596, 7894], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301770.json b/annotations/task-0030/episode_00301770.json new file mode 100644 index 0000000000000000000000000000000000000000..3d785025b0301de6644fe1a53d0a505ba2768c7a --- /dev/null +++ b/annotations/task-0030/episode_00301770.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9584, + "valid_duration": [69, 9653] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [69, 366], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [370, 2403], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2616, 2794], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2794, 3256], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3256, 3532], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3532, 3862], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3862, 4354], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4354, 4682], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4682, 6428], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6428, 6744], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7317, 7669], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7751, 8079], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8199, 8378], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8378, 8688], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8711, 8854], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8854, 9338], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9463, 9653], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [69, 4354], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2794, 4682], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4682, 6744], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7317, 7669], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7751, 8378], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8378, 8854], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8854, 9338], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9463, 9653], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301780.json b/annotations/task-0030/episode_00301780.json new file mode 100644 index 0000000000000000000000000000000000000000..89669b0fee1db746c08e68e0a3ab50cabb0bdffc --- /dev/null +++ b/annotations/task-0030/episode_00301780.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7754, + "valid_duration": [0, 7754] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 451], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [451, 1174], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1174, 1503], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1503, 1725], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1725, 2212], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2212, 2835], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2835, 3257], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3257, 3515], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3515, 4188], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4218, 5233], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5441, 5701], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5701, 6021], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6021, 6429], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6429, 6992], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6995, 7116], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7116, 7510], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7603, 7754], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3257], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1503, 3515], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3515, 5233], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5441, 5701], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5701, 6429], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6429, 7116], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7116, 7510], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7603, 7754], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301790.json b/annotations/task-0030/episode_00301790.json new file mode 100644 index 0000000000000000000000000000000000000000..7a1181f6a50f1d9dfb47f7c16102de772c4ca841 --- /dev/null +++ b/annotations/task-0030/episode_00301790.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8081, + "valid_duration": [56, 8137] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [56, 1571], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1707, 2547], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2657, 2891], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2892, 3964], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4063, 4254], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4347, 4527], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4577, 4969], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4985, 5280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5323, 5821], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5850, 6155], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6173, 6386], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6392, 6582], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6768, 6908], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6981, 7372], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7383, 7503], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7518, 7890], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7915, 8137], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [56, 4969], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2892, 5280], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5323, 6155], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6173, 6386], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6392, 6908], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6981, 7503], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7518, 7890], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7915, 8137], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301800.json b/annotations/task-0030/episode_00301800.json new file mode 100644 index 0000000000000000000000000000000000000000..e744f52ab31640f3c486d4f586f087475e929f03 --- /dev/null +++ b/annotations/task-0030/episode_00301800.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7422, + "valid_duration": [18, 7440] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [18, 1275], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1270, 1950], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1988, 2311], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2311, 2379], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2379, 2964], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3049, 3483], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3483, 3944], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3954, 4425], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4425, 5064], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5064, 5463], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5463, 5643], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5643, 5977], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5977, 6276], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6276, 6757], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6759, 6882], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6891, 7263], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7305, 7440], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [18, 3944], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2311, 4425], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4425, 5463], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5463, 5643], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5643, 6276], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6276, 6882], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6891, 7263], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7305, 7440], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301820.json b/annotations/task-0030/episode_00301820.json new file mode 100644 index 0000000000000000000000000000000000000000..065ffe4df14d3c81d6c0ba321df4d862b19fe421 --- /dev/null +++ b/annotations/task-0030/episode_00301820.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8126, + "valid_duration": [0, 8126] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 791], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [817, 1538], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1594, 2187], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2187, 2544], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2740, 2965], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2965, 3558], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3558, 3926], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3926, 4491], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4491, 4950], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5000, 5705], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5874, 6082], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6082, 6315], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6346, 6699], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6699, 7170], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7180, 7316], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7316, 7813], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7885, 8126], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3926], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2187, 4491], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4491, 5705], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5874, 6082], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6082, 6699], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6699, 7316], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7316, 7813], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7885, 8126], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301840.json b/annotations/task-0030/episode_00301840.json new file mode 100644 index 0000000000000000000000000000000000000000..aa183e86b6363ad3eba24f35447bdaa398cc8d56 --- /dev/null +++ b/annotations/task-0030/episode_00301840.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6567, + "valid_duration": [40, 6607] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 505], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [537, 1236], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1283, 1694], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1694, 2070], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2093, 2396], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2397, 2617], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2617, 2992], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3040, 3382], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3383, 4293], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4323, 4628], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4692, 4890], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4890, 5100], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5100, 5407], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5407, 5647], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5650, 5782], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5782, 6218], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6218, 6607], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 2992], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1694, 3382], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3383, 4628], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4692, 4890], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4890, 5407], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5407, 5782], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5782, 6218], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6218, 6607], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301850.json b/annotations/task-0030/episode_00301850.json new file mode 100644 index 0000000000000000000000000000000000000000..c038a406e193aebff0ff4edc4c9af2b106c5a459 --- /dev/null +++ b/annotations/task-0030/episode_00301850.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7884, + "valid_duration": [0, 7884] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 260], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [263, 1346], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1349, 1690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1720, 2084], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2126, 2456], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2460, 3026], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3030, 3371], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3437, 3797], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3806, 4262], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4412, 5042], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5465, 5759], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5759, 6134], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6137, 6452], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6461, 7057], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7058, 7184], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7200, 7576], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7665, 7884], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3371], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1720, 3797], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3806, 5042], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5465, 5759], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5759, 6452], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6461, 7184], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7200, 7576], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7665, 7884], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301860.json b/annotations/task-0030/episode_00301860.json new file mode 100644 index 0000000000000000000000000000000000000000..1851b6e3e6e87915890c9d64229f4aab06b85b85 --- /dev/null +++ b/annotations/task-0030/episode_00301860.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6490, + "valid_duration": [0, 6490] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 245], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [245, 1123], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1123, 1387], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1387, 1644], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1644, 2000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2000, 2312], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2402, 2996], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2996, 3303], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3303, 3800], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3800, 4142], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4311, 4541], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4541, 4888], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4888, 5157], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5157, 5519], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5520, 5649], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5650, 6090], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6150, 6490], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2996], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1387, 3303], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3303, 4142], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4311, 4541], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4541, 5157], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5157, 5649], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5650, 6090], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6150, 6490], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301870.json b/annotations/task-0030/episode_00301870.json new file mode 100644 index 0000000000000000000000000000000000000000..46b4b3b4b0dbb2f65706525f0ee43b0c8040cab0 --- /dev/null +++ b/annotations/task-0030/episode_00301870.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7843, + "valid_duration": [28, 7871] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [28, 435], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [446, 1915], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1975, 2528], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2535, 2807], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2808, 3048], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3048, 3882], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3882, 4270], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4271, 4564], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4648, 5118], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5123, 5469], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5529, 5790], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5818, 6171], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6171, 6459], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6481, 7110], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7139, 7245], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7262, 7627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7700, 7871], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [28, 4270], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2535, 4564], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4648, 5469], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5529, 5790], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5818, 6459], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6481, 7245], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7262, 7627], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7700, 7871], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301910.json b/annotations/task-0030/episode_00301910.json new file mode 100644 index 0000000000000000000000000000000000000000..08522d424c112374776cc64c6cf737c1089a7dbc --- /dev/null +++ b/annotations/task-0030/episode_00301910.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 5670, + "valid_duration": [0, 5670] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 437], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [438, 1057], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1057, 1468], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1468, 1586], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1641, 1973], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1974, 2320], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2320, 2626], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2626, 2883], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2943, 3466], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3502, 3843], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3915, 4111], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4111, 4284], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4310, 4643], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4643, 4967], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4967, 5096], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5096, 5412], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5466, 5670], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2626], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1468, 2883], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2943, 3843], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3915, 4111], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4111, 4643], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4643, 5096], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5096, 5412], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5466, 5670], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301930.json b/annotations/task-0030/episode_00301930.json new file mode 100644 index 0000000000000000000000000000000000000000..9d5d57e924a096e6f53f0a6abeda8d9ae5a781c4 --- /dev/null +++ b/annotations/task-0030/episode_00301930.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9080, + "valid_duration": [0, 9080] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 176], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [180, 768], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [795, 1171], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1206, 1425], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1455, 1899], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1935, 2415], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2436, 3091], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3105, 3613], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3631, 5385], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5415, 6067], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6331, 7035], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7050, 7536], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7563, 7986], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8066, 8265], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8265, 8391], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8394, 8786], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8835, 9080], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3091], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1206, 3613], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3631, 6067], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6331, 7035], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7050, 7986], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8066, 8391], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8394, 8786], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8835, 9080], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301950.json b/annotations/task-0030/episode_00301950.json new file mode 100644 index 0000000000000000000000000000000000000000..6dcd35948ee7efce5f93b9d72e76c7d36d7ecf84 --- /dev/null +++ b/annotations/task-0030/episode_00301950.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10035, + "valid_duration": [0, 10035] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 459], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [480, 2100], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2100, 2508], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2508, 3255], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3255, 3708], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3708, 4113], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4113, 4524], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4524, 4950], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4950, 6471], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6471, 7170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7710, 7980], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7980, 8358], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8610, 8814], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8814, 9240], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9240, 9393], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9393, 9765], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9825, 10035], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4524], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2508, 4950], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4950, 7170], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7710, 7980], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7980, 8814], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8814, 9393], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9393, 9765], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9825, 10035], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301960.json b/annotations/task-0030/episode_00301960.json new file mode 100644 index 0000000000000000000000000000000000000000..bf2387f84d66bebd8b3bd6a83a60dd4b54d2ee4e --- /dev/null +++ b/annotations/task-0030/episode_00301960.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6550, + "valid_duration": [55, 6605] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [55, 540], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [540, 1208], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1208, 1526], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1547, 1668], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1685, 2096], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2126, 2445], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2459, 2945], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2946, 3287], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3296, 3701], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3722, 4400], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4463, 4781], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4817, 5030], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5045, 5363], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5375, 5666], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5681, 5816], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5822, 6218], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6257, 6605], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [55, 2945], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1547, 3287], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3296, 4400], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4463, 4781], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4817, 5363], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5375, 5816], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5822, 6218], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6257, 6605], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301970.json b/annotations/task-0030/episode_00301970.json new file mode 100644 index 0000000000000000000000000000000000000000..36d4ff2cd78c5f632d3bcd7660fc196489420e4d --- /dev/null +++ b/annotations/task-0030/episode_00301970.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7832, + "valid_duration": [0, 7832] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 888], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [888, 2286], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2363, 2587], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2587, 3035], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3035, 3468], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3468, 3668], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3669, 3993], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3993, 4410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4410, 5352], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5360, 5823], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5885, 6140], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6140, 6390], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6390, 6650], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6650, 6920], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6930, 7057], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7057, 7445], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7484, 7832], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3993], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2587, 4410], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4410, 5823], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5885, 6140], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6140, 6650], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6650, 7057], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7057, 7445], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7484, 7832], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00301990.json b/annotations/task-0030/episode_00301990.json new file mode 100644 index 0000000000000000000000000000000000000000..77a63cffce53b73477dec22a6b0bc14605ce3b6c --- /dev/null +++ b/annotations/task-0030/episode_00301990.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6922, + "valid_duration": [0, 6922] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 273], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [294, 827], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [836, 1176], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1176, 1362], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1532, 1956], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1956, 2633], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2633, 3269], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3269, 3640], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3661, 4110], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4110, 4507], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4507, 4781], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4811, 5087], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5117, 5390], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5390, 5934], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6013, 6146], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6146, 6561], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6561, 6922], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3269], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1176, 3640], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3661, 4507], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4507, 4781], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4811, 5390], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5390, 6146], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6146, 6561], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6561, 6922], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302000.json b/annotations/task-0030/episode_00302000.json new file mode 100644 index 0000000000000000000000000000000000000000..0f5c853487f75f563cf86068ed2e660d1845e785 --- /dev/null +++ b/annotations/task-0030/episode_00302000.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10939, + "valid_duration": [29, 10968] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [29, 426], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [426, 1956], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1956, 2570], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2570, 2742], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2742, 3217], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3217, 3797], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3797, 4309], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4309, 5255], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5255, 6768], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6768, 8193], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8541, 8763], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8763, 8928], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8928, 9565], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9565, 10019], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10019, 10193], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10193, 10687], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10687, 10968], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [29, 4309], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2570, 5255], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5255, 8193], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8541, 8763], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8763, 9565], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9565, 10193], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10193, 10687], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10687, 10968], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302050.json b/annotations/task-0030/episode_00302050.json new file mode 100644 index 0000000000000000000000000000000000000000..c0128716a01fdd1710f06a6599a39ad424716f0e --- /dev/null +++ b/annotations/task-0030/episode_00302050.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9962, + "valid_duration": [0, 9962] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 469], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [469, 1204], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1204, 1656], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1656, 1789], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1789, 2276], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2276, 2583], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2583, 3092], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3092, 3634], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3634, 5679], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5679, 6799], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7206, 7592], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7592, 7871], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7871, 8456], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8456, 8901], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8901, 9058], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9058, 9588], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9588, 9962], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3092], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1656, 3634], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3634, 6799], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7206, 7592], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7592, 8456], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8456, 9058], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9058, 9588], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9588, 9962], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302060.json b/annotations/task-0030/episode_00302060.json new file mode 100644 index 0000000000000000000000000000000000000000..55aca57b9f0c7ab655f5bb17f84daba8eccc3e4d --- /dev/null +++ b/annotations/task-0030/episode_00302060.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8821, + "valid_duration": [0, 8821] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 974], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [974, 1739], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1739, 2256], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2256, 2577], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2577, 3042], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3042, 3204], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3204, 3844], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3844, 4373], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4373, 5372], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5375, 6225], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6225, 6522], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6522, 6627], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6627, 7114], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7114, 7873], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7873, 8024], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8024, 8409], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8520, 8821], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3844], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2256, 4373], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4373, 6225], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6225, 6522], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6522, 7114], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7114, 8024], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8024, 8409], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8520, 8821], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302070.json b/annotations/task-0030/episode_00302070.json new file mode 100644 index 0000000000000000000000000000000000000000..809770307ed0d9071aca7486aa4a1b97db50c7da --- /dev/null +++ b/annotations/task-0030/episode_00302070.json @@ -0,0 +1,292 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7462, + "valid_duration": [30, 7492] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 437], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [437, 1150], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1150, 1483], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1483, 1711], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1711, 2154], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2154, 2415], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2415, 2738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2738, 3228], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3228, 4549], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4549, 5293], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5293, 5581], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5581, 5901], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5901, 6494], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6494, 6636], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 14, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6636, 7131], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 15, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7131, 7492], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2738], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1483, 3228], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3228, 5293], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5293, 5581], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5581, 5901], + "skill_idxes": [11] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5901, 6636], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6636, 7131], + "skill_idxes": [14] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7131, 7492], + "skill_idxes": [15] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302080.json b/annotations/task-0030/episode_00302080.json new file mode 100644 index 0000000000000000000000000000000000000000..b44e7ee49eb168ac9194026edb49270e2c37e681 --- /dev/null +++ b/annotations/task-0030/episode_00302080.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8115, + "valid_duration": [0, 8115] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 282], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [282, 1127], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1127, 1668], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1668, 2084], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2084, 2522], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2522, 2959], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2959, 3345], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3345, 3641], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3641, 4702], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4702, 5385], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5385, 5830], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5830, 5941], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5941, 6349], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6349, 7106], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7106, 7321], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7321, 7773], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7773, 8115], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3345], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1668, 3641], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3641, 5385], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5385, 5830], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5830, 6349], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6349, 7321], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7321, 7773], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7773, 8115], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302100.json b/annotations/task-0030/episode_00302100.json new file mode 100644 index 0000000000000000000000000000000000000000..498fcabc4b99b2f57c432032925a545b2dfdb6ed --- /dev/null +++ b/annotations/task-0030/episode_00302100.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7084, + "valid_duration": [26, 7110] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [26, 633], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [635, 1266], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1359, 1683], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1686, 1899], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2019, 2271], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2313, 2880], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2955, 3336], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3366, 3696], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3702, 4177], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4180, 4486], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4662, 4979], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4986, 5248], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5266, 5585], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5592, 6159], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6180, 6316], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6349, 6817], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6855, 7110], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [26, 3336], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1686, 3696], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3702, 4486], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4662, 4979], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4986, 5585], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5592, 6316], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6349, 6817], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6855, 7110], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302110.json b/annotations/task-0030/episode_00302110.json new file mode 100644 index 0000000000000000000000000000000000000000..766e2007aedc3ad9eb19e1e1285334657e0f7105 --- /dev/null +++ b/annotations/task-0030/episode_00302110.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8092, + "valid_duration": [49, 8141] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [49, 436], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [455, 1113], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1157, 1482], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1483, 1894], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1894, 2463], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2463, 3303], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3303, 3691], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3706, 4054], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4054, 5373], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5385, 5644], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5781, 6195], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6195, 6266], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6267, 6655], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6655, 7259], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7260, 7405], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7406, 7886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7887, 8141], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [49, 3691], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1483, 4054], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4054, 5644], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5781, 6195], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6195, 6655], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6655, 7405], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7406, 7886], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7887, 8141], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302120.json b/annotations/task-0030/episode_00302120.json new file mode 100644 index 0000000000000000000000000000000000000000..3fc58a0195f1f860cccb33c59fa34732f8b17fba --- /dev/null +++ b/annotations/task-0030/episode_00302120.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6980, + "valid_duration": [25, 7005] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [25, 379], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [387, 1075], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1075, 1396], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1396, 1949], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1949, 2398], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2460, 2639], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2640, 3135], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3159, 3459], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3505, 4080], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4092, 4902], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5178, 5486], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5499, 5682], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5772, 5950], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5950, 6075], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6075, 6225], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6262, 6677], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6778, 7005], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [25, 3135], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1396, 3459], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3505, 4902], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5178, 5486], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5499, 5950], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5950, 6225], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6262, 6677], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6778, 7005], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302130.json b/annotations/task-0030/episode_00302130.json new file mode 100644 index 0000000000000000000000000000000000000000..58f3e30652a5ab4221b152bc3bb979d315770b6f --- /dev/null +++ b/annotations/task-0030/episode_00302130.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7070, + "valid_duration": [0, 7070] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 594], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [595, 1271], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1271, 1603], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1604, 1959], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2011, 2391], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2391, 2590], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2590, 3028], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3057, 3232], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3347, 4296], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4368, 4741], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4797, 5061], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5071, 5324], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5367, 5715], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5715, 6141], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6141, 6298], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6298, 6759], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6759, 7070], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3028], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1604, 3232], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3347, 4741], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4797, 5061], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5071, 5715], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5715, 6298], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6298, 6759], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6759, 7070], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302140.json b/annotations/task-0030/episode_00302140.json new file mode 100644 index 0000000000000000000000000000000000000000..75ae32e1f90ace7b27a0b593f8f3f489a3642af4 --- /dev/null +++ b/annotations/task-0030/episode_00302140.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7023, + "valid_duration": [0, 7023] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 380], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [415, 1137], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1227, 1626], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1626, 2000], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2006, 2456], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2554, 3110], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3110, 3391], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3391, 3652], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3652, 4534], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4534, 4906], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5002, 5298], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5298, 5429], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5429, 5802], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5802, 6246], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["firewood_76", "lighter_73"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6246, 6403], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6403, 6742], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6834, 7023], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3391], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1626, 3652], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3652, 4906], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5002, 5298], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5298, 5802], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["firewood_76", "lighter_73"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5802, 6403], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6403, 6742], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6834, 7023], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302150.json b/annotations/task-0030/episode_00302150.json new file mode 100644 index 0000000000000000000000000000000000000000..01f32a85b60792940b54a315065024b46fef632a --- /dev/null +++ b/annotations/task-0030/episode_00302150.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8099, + "valid_duration": [0, 8099] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 870], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [899, 1570], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1636, 1958], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2024, 2450], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2466, 2869], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2870, 3236], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3266, 3996], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3996, 4399], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4415, 5292], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5418, 5805], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5920, 6167], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6232, 6619], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6677, 6972], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7023, 7314], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7320, 7458], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7491, 7844], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7943, 8099], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3996], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2024, 4399], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4415, 5805], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5920, 6167], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6232, 6972], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7023, 7458], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7491, 7844], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7943, 8099], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302160.json b/annotations/task-0030/episode_00302160.json new file mode 100644 index 0000000000000000000000000000000000000000..9bffd3e38e72e8481caaf32b8890856e6a8d1d26 --- /dev/null +++ b/annotations/task-0030/episode_00302160.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10064, + "valid_duration": [0, 10064] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 491], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [548, 1675], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1804, 2260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2260, 2464], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2464, 2985], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2986, 3255], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3256, 3646], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3646, 4064], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4101, 5579], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5770, 6533], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7315, 7794], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7794, 8139], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8139, 8631], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8631, 9050], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9050, 9199], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9199, 9729], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9729, 10064], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3646], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2260, 4064], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4101, 6533], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7315, 7794], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7794, 8631], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8631, 9199], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9199, 9729], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9729, 10064], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302170.json b/annotations/task-0030/episode_00302170.json new file mode 100644 index 0000000000000000000000000000000000000000..e4677e682d4050e11edb147c0efe789aee8a2702 --- /dev/null +++ b/annotations/task-0030/episode_00302170.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7389, + "valid_duration": [80, 7469] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [80, 651], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [723, 1303], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1343, 1672], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1672, 2398], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2398, 2856], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2856, 2940], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2940, 3632], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3632, 4063], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4063, 4617], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4617, 5125], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5286, 5465], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5475, 5626], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5626, 6155], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6224, 6352], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6352, 6474], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6482, 6990], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7082, 7469], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [80, 3632], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1672, 4063], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4063, 5125], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5286, 5465], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5475, 6155], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6224, 6474], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6482, 6990], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7082, 7469], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302180.json b/annotations/task-0030/episode_00302180.json new file mode 100644 index 0000000000000000000000000000000000000000..a3f7638e4ca527caad6250f7162911149e8491b9 --- /dev/null +++ b/annotations/task-0030/episode_00302180.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8930, + "valid_duration": [0, 8930] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 519], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [528, 1817], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1817, 2257], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2258, 2493], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2493, 3051], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3051, 3816], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3897, 4281], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4281, 4524], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4524, 5143], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5147, 5910], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6126, 6434], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6435, 7145], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7146, 7515], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7522, 7964], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7976, 8128], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8214, 8617], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8630, 8930], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4281], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2258, 4524], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4524, 5910], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6126, 6434], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6435, 7515], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7522, 8128], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8214, 8617], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8630, 8930], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302190.json b/annotations/task-0030/episode_00302190.json new file mode 100644 index 0000000000000000000000000000000000000000..3c567d7eb996d1e620b4b51f2071739e6ea614df --- /dev/null +++ b/annotations/task-0030/episode_00302190.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10481, + "valid_duration": [0, 10481] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 906], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [906, 2080], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2080, 2618], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2619, 2790], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2799, 3262], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3264, 4140], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4141, 4576], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4606, 5005], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5005, 7080], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7080, 7507], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8250, 8490], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8490, 8556], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8565, 9008], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9035, 9525], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9540, 9690], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9690, 10056], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10158, 10481], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4576], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2619, 5005], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5005, 7507], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8250, 8490], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8490, 9008], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9035, 9690], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9690, 10056], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10158, 10481], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302200.json b/annotations/task-0030/episode_00302200.json new file mode 100644 index 0000000000000000000000000000000000000000..e5c3a8ade663758cf3ee1d55e64f6fef88542cb2 --- /dev/null +++ b/annotations/task-0030/episode_00302200.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7770, + "valid_duration": [0, 7770] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 423], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [450, 1147], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1207, 1635], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1635, 1715], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1715, 2259], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2259, 2814], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2814, 3214], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3219, 3630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3630, 4119], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4140, 4620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4620, 4989], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5019, 5442], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5520, 5835], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5835, 6690], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6720, 6840], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6960, 7320], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7350, 7770], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3214], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1635, 3630], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3630, 4620], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4620, 4989], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5019, 5835], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5835, 6840], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6960, 7320], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7350, 7770], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302210.json b/annotations/task-0030/episode_00302210.json new file mode 100644 index 0000000000000000000000000000000000000000..b01c1547b5074ea1c02126c15a86a609a5479f9e --- /dev/null +++ b/annotations/task-0030/episode_00302210.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8833, + "valid_duration": [53, 8886] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [53, 372], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [372, 2841], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2841, 3267], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3267, 3409], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3409, 3890], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3890, 4230], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4230, 4595], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4595, 4896], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4896, 5245], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5245, 6038], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6123, 6333], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6333, 6873], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6873, 7338], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7338, 8048], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8048, 8196], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8196, 8633], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8633, 8886], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [53, 4595], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3267, 4896], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4896, 6038], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6123, 6333], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6333, 7338], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7338, 8196], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8196, 8633], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8633, 8886], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302220.json b/annotations/task-0030/episode_00302220.json new file mode 100644 index 0000000000000000000000000000000000000000..2695e5835164d5a4e9c4dd7450c98866b531ccb0 --- /dev/null +++ b/annotations/task-0030/episode_00302220.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7020, + "valid_duration": [0, 7020] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 394], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [395, 1106], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1107, 1556], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1556, 1761], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1867, 2430], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2430, 2730], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2730, 3184], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3205, 3639], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3670, 4205], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4233, 4624], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4924, 5143], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5144, 5412], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5442, 5808], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5809, 6139], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6145, 6288], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6312, 6760], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6817, 7020], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3184], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1556, 3639], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3670, 4624], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4924, 5143], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5144, 5808], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5809, 6288], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6312, 6760], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6817, 7020], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302230.json b/annotations/task-0030/episode_00302230.json new file mode 100644 index 0000000000000000000000000000000000000000..ce29c414d1563a17472fb219fbbcfeb6fdb5ce36 --- /dev/null +++ b/annotations/task-0030/episode_00302230.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8400, + "valid_duration": [0, 8400] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 296], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [296, 2172], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2172, 2584], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2584, 2756], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2756, 3688], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3688, 4004], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4004, 4379], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4379, 4860], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4860, 5535], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5550, 6002], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6185, 6420], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6420, 6666], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6666, 7125], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7125, 7362], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7362, 7545], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7545, 7890], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7890, 8400], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4379], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2584, 4860], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4860, 6002], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6185, 6420], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6420, 7125], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7125, 7545], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7545, 7890], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7890, 8400], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302240.json b/annotations/task-0030/episode_00302240.json new file mode 100644 index 0000000000000000000000000000000000000000..7c7e85f890a7bdf8a9a59215004c2cd80fdba85d --- /dev/null +++ b/annotations/task-0030/episode_00302240.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8388, + "valid_duration": [42, 8430] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 620], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [620, 1686], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1800, 2239], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2256, 2700], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2700, 3195], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3210, 3504], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3510, 4023], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4050, 4437], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4437, 5010], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5010, 5604], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5820, 6072], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6191, 6390], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6390, 6750], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6810, 7560], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7590, 7740], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7770, 8130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8269, 8430], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 4023], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2256, 4437], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4437, 5604], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5820, 6072], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6191, 6750], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6810, 7740], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7770, 8130], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8269, 8430], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302250.json b/annotations/task-0030/episode_00302250.json new file mode 100644 index 0000000000000000000000000000000000000000..e0800acf49a283a378c19cb9103b3a4d7b9334e9 --- /dev/null +++ b/annotations/task-0030/episode_00302250.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8975, + "valid_duration": [36, 9011] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [36, 916], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [916, 2460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2460, 2755], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2820, 3013], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3013, 3600], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3600, 4131], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4132, 4722], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4740, 5130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5254, 5989], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5989, 6330], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6397, 6623], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6647, 6918], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6918, 7203], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7296, 8103], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8103, 8252], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8252, 8707], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8766, 9011], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [36, 4722], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2820, 5130], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5254, 6330], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6397, 6623], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6647, 7203], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7296, 8252], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8252, 8707], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8766, 9011], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302260.json b/annotations/task-0030/episode_00302260.json new file mode 100644 index 0000000000000000000000000000000000000000..726c0fff774d116f70fcfaa8e380bd5fe7af6927 --- /dev/null +++ b/annotations/task-0030/episode_00302260.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9981, + "valid_duration": [0, 9981] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 633], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1012, 3315], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3359, 3836], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3909, 4207], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4209, 4620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4713, 4839], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4863, 5253], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5274, 5703], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5763, 6399], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6399, 7086], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7245, 7512], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7530, 8113], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8139, 8462], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8462, 9021], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9030, 9173], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9174, 9570], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9695, 9981], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5253], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3909, 5703], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5763, 7086], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7245, 7512], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7530, 8462], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8462, 9173], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9174, 9570], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9695, 9981], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302270.json b/annotations/task-0030/episode_00302270.json new file mode 100644 index 0000000000000000000000000000000000000000..3b6ca2f64882302da210c1d38056899db5102338 --- /dev/null +++ b/annotations/task-0030/episode_00302270.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8144, + "valid_duration": [0, 8144] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1247], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1369, 1842], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2005, 2317], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2317, 2626], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2662, 3155], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3326, 3709], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3774, 4035], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4125, 4467], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4508, 5022], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5052, 5380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5601, 5853], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5925, 6033], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6119, 6481], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6530, 6974], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6974, 7182], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7239, 7557], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7728, 8144], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4035], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2317, 4467], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4508, 5380], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5601, 5853], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5925, 6481], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6530, 7182], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7239, 7557], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7728, 8144], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302280.json b/annotations/task-0030/episode_00302280.json new file mode 100644 index 0000000000000000000000000000000000000000..8d5b0717c4bd4ac6a11151431ac975b0b06ecc92 --- /dev/null +++ b/annotations/task-0030/episode_00302280.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9740, + "valid_duration": [70, 9810] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [70, 378], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [378, 1620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1668, 1968], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1968, 2460], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2521, 2938], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2939, 3090], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3152, 3559], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3589, 3918], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3918, 5970], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6129, 6711], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7498, 7873], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7885, 7908], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7943, 8438], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8477, 8880], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8904, 9033], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9097, 9447], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9450, 9810], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [70, 3559], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1968, 3918], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3918, 6711], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7498, 7873], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7885, 8438], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8477, 9033], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9097, 9447], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9450, 9810], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302290.json b/annotations/task-0030/episode_00302290.json new file mode 100644 index 0000000000000000000000000000000000000000..3d5c60c76569cb122481be129bc6a6a46acdcb61 --- /dev/null +++ b/annotations/task-0030/episode_00302290.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8568, + "valid_duration": [42, 8610] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 298], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [298, 1833], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1837, 2255], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2256, 2634], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2634, 3153], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3153, 4005], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4005, 4389], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4402, 4869], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4869, 5370], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5392, 6240], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6291, 6513], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6513, 6921], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6921, 7242], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7245, 7623], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7623, 7780], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7818, 8254], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8290, 8610], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 4389], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2256, 4869], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4869, 6240], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6291, 6513], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6513, 7242], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7245, 7780], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7818, 8254], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8290, 8610], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302300.json b/annotations/task-0030/episode_00302300.json new file mode 100644 index 0000000000000000000000000000000000000000..5fba3f84441af810b3ecd45460b932677972f59f --- /dev/null +++ b/annotations/task-0030/episode_00302300.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8379, + "valid_duration": [51, 8430] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [51, 307], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [307, 1819], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1819, 2292], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2292, 2742], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2742, 3187], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3187, 3603], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3603, 4424], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4424, 5085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5085, 5963], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5963, 6351], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6428, 6702], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6702, 6888], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6888, 7300], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7300, 7575], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7575, 7716], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7716, 8194], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8194, 8430], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [51, 4424], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2292, 5085], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5085, 6351], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6428, 6702], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6702, 7300], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7300, 7716], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7716, 8194], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8194, 8430], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302310.json b/annotations/task-0030/episode_00302310.json new file mode 100644 index 0000000000000000000000000000000000000000..7658e632d13cc8dcfd4f4097c93fc9ab04ff4d05 --- /dev/null +++ b/annotations/task-0030/episode_00302310.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6919, + "valid_duration": [35, 6954] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [35, 387], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [387, 930], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [939, 1158], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1158, 1535], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1535, 2018], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2195, 2407], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2407, 2940], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2970, 3306], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3501, 3939], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3939, 4383], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4652, 4906], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4946, 5100], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5100, 5456], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5580, 5959], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5967, 6139], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6148, 6635], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6765, 6954], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [35, 2940], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1158, 3306], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3501, 4383], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4652, 4906], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4946, 5456], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5580, 6139], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6148, 6635], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6765, 6954], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302330.json b/annotations/task-0030/episode_00302330.json new file mode 100644 index 0000000000000000000000000000000000000000..60cf2a0bb5626528c2c2962604b755eb6e9542d8 --- /dev/null +++ b/annotations/task-0030/episode_00302330.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8367, + "valid_duration": [0, 8367] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 321], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [525, 1811], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1886, 2400], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2430, 2493], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2525, 2956], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2972, 3858], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3866, 4368], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4368, 4665], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4807, 5795], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5857, 6399], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6469, 6689], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6720, 6784], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6877, 7143], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7182, 7520], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["firewood_75", "lighter_73"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7543, 7661], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7716, 8139], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8229, 8367], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4368], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2430, 4665], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4807, 6399], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6469, 6689], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6720, 7143], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["firewood_75", "lighter_73"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7182, 7661], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7716, 8139], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8229, 8367], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302340.json b/annotations/task-0030/episode_00302340.json new file mode 100644 index 0000000000000000000000000000000000000000..b042c5f1d519e25093f3330854c0204d0d26cbc5 --- /dev/null +++ b/annotations/task-0030/episode_00302340.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7827, + "valid_duration": [0, 7827] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1424], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1553, 1913], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1934, 2196], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2239, 2420], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2432, 2849], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2849, 2994], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2994, 3312], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3346, 3690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3801, 4988], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5119, 5560], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5560, 5886], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5912, 6006], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6084, 6324], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6367, 6736], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6745, 6899], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6959, 7388], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7491, 7827], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3312], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2239, 3690], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3801, 5560], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5560, 5886], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5912, 6324], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6367, 6899], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6959, 7388], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7491, 7827], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302350.json b/annotations/task-0030/episode_00302350.json new file mode 100644 index 0000000000000000000000000000000000000000..3686b7d0d00b2fc912264572d760b309767faece --- /dev/null +++ b/annotations/task-0030/episode_00302350.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9630, + "valid_duration": [0, 9630] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 630], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [720, 1830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2100, 2713], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2713, 3699], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3729, 4203], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4211, 4592], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4592, 5070], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5070, 5399], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5403, 6105], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6248, 7295], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7560, 7810], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7811, 8087], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8088, 8367], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8367, 8625], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8641, 8766], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8805, 9180], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9331, 9630], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5070], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2713, 5399], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5403, 7295], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7560, 7810], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7811, 8367], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8367, 8766], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8805, 9180], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9331, 9630], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302360.json b/annotations/task-0030/episode_00302360.json new file mode 100644 index 0000000000000000000000000000000000000000..a20ac03de5194394706ac1eead728ced8f58e833 --- /dev/null +++ b/annotations/task-0030/episode_00302360.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7259, + "valid_duration": [81, 7340] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [81, 291], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [292, 1113], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1113, 1419], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1419, 1527], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1528, 1935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2000, 2424], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2424, 2919], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2920, 3354], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3354, 4223], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4224, 4556], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4690, 5011], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5026, 5323], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5323, 5781], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5877, 6254], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6269, 6403], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6403, 6892], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6960, 7340], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [81, 2919], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1419, 3354], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3354, 4556], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4690, 5011], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5026, 5781], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5877, 6403], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6403, 6892], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6960, 7340], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302370.json b/annotations/task-0030/episode_00302370.json new file mode 100644 index 0000000000000000000000000000000000000000..b4da7f9e5957e4012abb9793ff0031f3e8e70214 --- /dev/null +++ b/annotations/task-0030/episode_00302370.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6914, + "valid_duration": [0, 6914] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 479], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [480, 1104], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1104, 1390], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1390, 1604], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1604, 2121], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2121, 2516], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2516, 3078], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3091, 3344], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3460, 3950], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3951, 4495], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4721, 4941], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4941, 5381], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5381, 5801], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5802, 6123], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6123, 6273], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6280, 6621], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6739, 6914], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3078], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1390, 3344], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3460, 4495], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4721, 4941], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4941, 5801], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5802, 6273], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6280, 6621], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6739, 6914], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302380.json b/annotations/task-0030/episode_00302380.json new file mode 100644 index 0000000000000000000000000000000000000000..a444c0f8426a8a735715e4c327a45ace18983c11 --- /dev/null +++ b/annotations/task-0030/episode_00302380.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8553, + "valid_duration": [36, 8589] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [36, 688], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [874, 2355], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2355, 2907], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2907, 3222], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3222, 3797], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3797, 4284], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4284, 4896], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4897, 5276], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5368, 5886], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5886, 6220], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6305, 6630], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6631, 6666], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6666, 7089], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7090, 7468], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7469, 7615], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7714, 8113], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8286, 8589], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [36, 4896], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2907, 5276], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5368, 6220], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6305, 6630], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6631, 7089], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7090, 7615], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7714, 8113], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8286, 8589], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302390.json b/annotations/task-0030/episode_00302390.json new file mode 100644 index 0000000000000000000000000000000000000000..330f903e5c6cc69a46dfd36f7248684edb57106a --- /dev/null +++ b/annotations/task-0030/episode_00302390.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8137, + "valid_duration": [19, 8156] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [19, 360], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [378, 2286], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2316, 2788], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2788, 3254], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3254, 3717], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3717, 3826], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3843, 4234], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4235, 4534], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4534, 5408], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5460, 5848], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5848, 6222], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6223, 6313], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6360, 6747], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6798, 7237], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7237, 7394], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7394, 7879], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7948, 8156], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [19, 4234], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2788, 4534], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4534, 5848], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5848, 6222], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6223, 6747], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6798, 7394], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7394, 7879], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7948, 8156], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302400.json b/annotations/task-0030/episode_00302400.json new file mode 100644 index 0000000000000000000000000000000000000000..6f51ab02a303d275fa5df624005f3d6590f2af64 --- /dev/null +++ b/annotations/task-0030/episode_00302400.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9906, + "valid_duration": [0, 9906] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 772], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [773, 1323], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1323, 1737], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1737, 2021], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2021, 2497], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2498, 2755], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2755, 3288], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3288, 3635], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3636, 4827], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4827, 6744], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6744, 7589], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7589, 8122], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8122, 8649], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8649, 8942], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["firewood_75", "lighter_73"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8943, 9080], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9080, 9475], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9475, 9906], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3288], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1737, 3635], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3636, 6744], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6744, 7589], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7589, 8649], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["firewood_75", "lighter_73"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8649, 9080], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9080, 9475], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9475, 9906], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302410.json b/annotations/task-0030/episode_00302410.json new file mode 100644 index 0000000000000000000000000000000000000000..1106520e4c3155b09c69eb2af6e3434fe5dc6f30 --- /dev/null +++ b/annotations/task-0030/episode_00302410.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8827, + "valid_duration": [54, 8881] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [54, 392], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [392, 1588], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1618, 2129], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2129, 2246], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2246, 2789], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2789, 3225], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3225, 3931], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3931, 4469], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4469, 4875], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4875, 5864], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6069, 6360], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6360, 6843], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6843, 7196], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7196, 7848], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7848, 7990], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8051, 8584], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8584, 8881], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [54, 3931], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2129, 4469], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4469, 5864], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6069, 6360], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6360, 7196], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7196, 7990], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8051, 8584], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8584, 8881], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302420.json b/annotations/task-0030/episode_00302420.json new file mode 100644 index 0000000000000000000000000000000000000000..b2b1441d52edd16cfa28a17960a4b7af4473fd96 --- /dev/null +++ b/annotations/task-0030/episode_00302420.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10359, + "valid_duration": [0, 10359] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 647], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [692, 3418], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3418, 3872], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3895, 4099], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4099, 4360], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4428, 4746], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4837, 5121], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5121, 5417], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5417, 6632], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6882, 7427], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7608, 7994], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8017, 8278], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8369, 8608], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8744, 9175], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9266, 9471], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9471, 9891], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9948, 10359], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5121], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3895, 5417], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5417, 7427], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7608, 7994], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8017, 8608], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8744, 9471], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9471, 9891], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9948, 10359], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302430.json b/annotations/task-0030/episode_00302430.json new file mode 100644 index 0000000000000000000000000000000000000000..4f244d10c83d5b52386ceb8da531662cdd0386d2 --- /dev/null +++ b/annotations/task-0030/episode_00302430.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8508, + "valid_duration": [0, 8508] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 911], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [912, 2493], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2493, 2884], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2884, 3201], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3210, 3667], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3668, 4105], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4106, 4672], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4673, 5076], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5076, 5514], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5520, 6069], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6192, 6519], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6519, 6786], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6816, 7118], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7118, 7484], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7484, 7644], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7674, 8057], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8123, 8508], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4672], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2884, 5076], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5076, 6069], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6192, 6519], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6519, 7118], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7118, 7644], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7674, 8057], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8123, 8508], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302440.json b/annotations/task-0030/episode_00302440.json new file mode 100644 index 0000000000000000000000000000000000000000..c090a69c619f700334e20807f439dc9e3a5ed426 --- /dev/null +++ b/annotations/task-0030/episode_00302440.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7387, + "valid_duration": [0, 7387] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 891], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1101, 1710], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1710, 1954], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1954, 2076], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2256, 2493], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2493, 2964], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2964, 3378], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3408, 3705], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3705, 4108], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4416, 4848], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5013, 5349], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5349, 5685], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5835, 6006], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6009, 6453], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6453, 6609], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6639, 7004], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7101, 7387], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3378], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1954, 3705], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3705, 4848], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5013, 5349], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5349, 6006], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6009, 6609], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6639, 7004], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7101, 7387], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302450.json b/annotations/task-0030/episode_00302450.json new file mode 100644 index 0000000000000000000000000000000000000000..94edf2ea7f60a4964e1dd46920ad2fd97ef09e5c --- /dev/null +++ b/annotations/task-0030/episode_00302450.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8094, + "valid_duration": [45, 8139] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 514], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [533, 1173], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1182, 1480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1504, 2092], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2103, 2562], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2585, 2931], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2943, 3433], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3479, 3762], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3781, 4335], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4698, 5298], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5795, 6067], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6134, 6194], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6195, 6567], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6629, 7152], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7175, 7310], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7377, 7758], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7908, 8139], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 3433], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1504, 3762], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3781, 5298], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5795, 6067], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6134, 6567], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6629, 7310], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7377, 7758], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7908, 8139], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302470.json b/annotations/task-0030/episode_00302470.json new file mode 100644 index 0000000000000000000000000000000000000000..a4e424adc9897f43d6e448c2b2c680764d01df90 --- /dev/null +++ b/annotations/task-0030/episode_00302470.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7081, + "valid_duration": [0, 7081] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 306], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [319, 839], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [894, 1329], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1329, 1506], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1564, 1997], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2010, 2217], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2220, 2504], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2512, 3081], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3081, 3687], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3705, 4411], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4559, 4924], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4944, 5324], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5325, 5595], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5618, 6190], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6193, 6330], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6330, 6816], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6831, 7081], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2504], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1329, 3081], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3081, 4411], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4559, 4924], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4944, 5595], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5618, 6330], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6330, 6816], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6831, 7081], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302480.json b/annotations/task-0030/episode_00302480.json new file mode 100644 index 0000000000000000000000000000000000000000..fd49de61dfa40c4379385f6a2f7b2c0a83116ce1 --- /dev/null +++ b/annotations/task-0030/episode_00302480.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9603, + "valid_duration": [28, 9631] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [28, 620], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [645, 1895], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2344, 2623], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2671, 2976], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2988, 3410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3410, 3562], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3603, 4067], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4190, 4466], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4525, 6098], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6127, 6720], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7072, 7267], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7305, 7457], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7584, 8105], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8258, 8569], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8569, 8784], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8821, 9320], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9391, 9631], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [28, 4067], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2671, 4466], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4525, 6720], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7072, 7267], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7305, 8105], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8258, 8784], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8821, 9320], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9391, 9631], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302490.json b/annotations/task-0030/episode_00302490.json new file mode 100644 index 0000000000000000000000000000000000000000..7df14132e88d84cbab13c924950e5ca9dd01d772 --- /dev/null +++ b/annotations/task-0030/episode_00302490.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9852, + "valid_duration": [48, 9900] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [48, 831], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [975, 2524], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2670, 3165], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3188, 3454], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3454, 3751], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3751, 4284], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4321, 4693], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4742, 5116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5116, 6665], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6666, 7283], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7907, 8076], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8076, 8289], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8461, 8668], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8807, 9136], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["firewood_76", "lighter_73"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9136, 9292], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9345, 9645], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9705, 9900], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [48, 4693], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3188, 5116], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5116, 7283], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7907, 8076], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8076, 8668], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["firewood_76", "lighter_73"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8807, 9292], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9345, 9645], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9705, 9900], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302500.json b/annotations/task-0030/episode_00302500.json new file mode 100644 index 0000000000000000000000000000000000000000..043a4dcb0cdcf91c905ce43952f4e805551a214a --- /dev/null +++ b/annotations/task-0030/episode_00302500.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8063, + "valid_duration": [48, 8111] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [48, 1309], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1309, 2110], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2110, 2391], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2391, 2639], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2639, 3032], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3032, 3659], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3659, 4136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4136, 4664], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["coffee_table_koagbh_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4664, 5067], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5067, 5520], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5520, 5763], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5763, 6251], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6251, 6724], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6725, 7098], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["firewood_76", "lighter_73"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7098, 7247], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7247, 7794], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7795, 8111], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [48, 4136], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2391, 4664], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4664, 5520], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5520, 5763], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5763, 6724], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["firewood_76", "lighter_73"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6725, 7247], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7247, 7794], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7795, 8111], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302510.json b/annotations/task-0030/episode_00302510.json new file mode 100644 index 0000000000000000000000000000000000000000..33a4b46d86b83a4947e0bfd2abe3211cc35a228e --- /dev/null +++ b/annotations/task-0030/episode_00302510.json @@ -0,0 +1,292 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9104, + "valid_duration": [92, 9196] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [92, 903], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [903, 2567], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2567, 3508], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3537, 4010], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4010, 4347], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4347, 4775], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4775, 5339], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5339, 6012], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6012, 6475], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6475, 7108], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7108, 7420], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 11, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7420, 7867], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7867, 8272], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["firewood_76", "lighter_73"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8272, 8420], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 14, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8443, 8962], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 15, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8962, 9196], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [92, 4775], + "skill_idxes": [0, 1, 4, 5] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2567, 5339], + "skill_idxes": [2, 3, 4, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5339, 6475], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6475, 7108], + "skill_idxes": [9] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7108, 7867], + "skill_idxes": [10, 11] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["firewood_76", "lighter_73"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7867, 8420], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8443, 8962], + "skill_idxes": [14] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8962, 9196], + "skill_idxes": [15] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302520.json b/annotations/task-0030/episode_00302520.json new file mode 100644 index 0000000000000000000000000000000000000000..a4e2439175baa117fce1cddc5f561df4b1588779 --- /dev/null +++ b/annotations/task-0030/episode_00302520.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10036, + "valid_duration": [40, 10076] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 375], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [375, 2014], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2014, 2504], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2505, 2834], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2834, 3378], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3378, 3644], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3645, 4170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4170, 4564], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4564, 6218], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6218, 7139], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7571, 7745], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7745, 8207], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8207, 8715], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8716, 9126], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9126, 9278], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9279, 9709], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9709, 10076], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 4170], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2505, 4564], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4564, 7139], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7571, 7745], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7745, 8715], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8716, 9278], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9279, 9709], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9709, 10076], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302530.json b/annotations/task-0030/episode_00302530.json new file mode 100644 index 0000000000000000000000000000000000000000..35970ae480f10901bc48f0b2168dbf3752584629 --- /dev/null +++ b/annotations/task-0030/episode_00302530.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7295, + "valid_duration": [40, 7335] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 362], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [362, 1366], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1367, 1876], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1876, 2033], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2034, 2537], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2537, 2973], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2973, 3369], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3369, 3751], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3751, 4287], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4287, 5223], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5223, 5587], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5588, 5839], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5839, 6222], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6223, 6500], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6500, 6658], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6658, 7084], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7084, 7335], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 3369], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1876, 3751], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3751, 5223], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5223, 5587], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5588, 6222], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6223, 6658], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6658, 7084], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7084, 7335], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302540.json b/annotations/task-0030/episode_00302540.json new file mode 100644 index 0000000000000000000000000000000000000000..4ff361389298afc6400ee99c2cf8d20ea88c0605 --- /dev/null +++ b/annotations/task-0030/episode_00302540.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 10606, + "valid_duration": [74, 10680] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [74, 1547], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1547, 2145], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2145, 2605], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2606, 2859], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2859, 3363], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3363, 3514], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3514, 4042], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4042, 4569], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4570, 5984], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5984, 7974], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8262, 8790], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8790, 9175], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9175, 9504], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9505, 9894], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9894, 10033], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10033, 10417], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10417, 10680], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [74, 4042], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2606, 4569], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4570, 7974], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8262, 8790], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8790, 9504], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9505, 10033], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10033, 10417], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10417, 10680], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302550.json b/annotations/task-0030/episode_00302550.json new file mode 100644 index 0000000000000000000000000000000000000000..868f1bbed689d5388831d53addb31e6ee46d84b9 --- /dev/null +++ b/annotations/task-0030/episode_00302550.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 9868, + "valid_duration": [60, 9928] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 676], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [676, 2621], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2621, 3085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3085, 3179], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3179, 3731], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3731, 4172], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4172, 4495], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4495, 5013], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5013, 6225], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6225, 7404], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7602, 7869], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7870, 7982], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7982, 8366], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8366, 9009], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9009, 9161], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9161, 9612], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9612, 9928], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 4495], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3085, 5013], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5013, 7404], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7602, 7869], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7870, 8366], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8366, 9161], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9161, 9612], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9612, 9928], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302560.json b/annotations/task-0030/episode_00302560.json new file mode 100644 index 0000000000000000000000000000000000000000..6082e8d55f448c185aefbe2b50394a2d6f7f302d --- /dev/null +++ b/annotations/task-0030/episode_00302560.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 8976, + "valid_duration": [0, 8976] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1127], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [1127, 2905], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2905, 3628], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3629, 3708], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3708, 4266], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4266, 4991], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4991, 5401], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5402, 5704], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5704, 6510], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6510, 6922], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7031, 7300], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7300, 7329], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7330, 7692], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7692, 8092], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8093, 8223], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8223, 8692], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8692, 8976], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5401], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3629, 5704], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5704, 6922], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7031, 7300], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7300, 7692], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7692, 8223], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8223, 8692], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8692, 8976], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302670.json b/annotations/task-0030/episode_00302670.json new file mode 100644 index 0000000000000000000000000000000000000000..9fd2176326e387126193a6bbdf62e5f441b195b6 --- /dev/null +++ b/annotations/task-0030/episode_00302670.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6753, + "valid_duration": [0, 6753] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 708], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [708, 1105], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1105, 1465], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1465, 2104], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2104, 2767], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2767, 3363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3363, 3729], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3729, 4056], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4056, 4470], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4470, 4905], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4905, 5245], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5245, 5405], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5405, 5728], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5728, 5854], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5854, 6194], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6194, 6514], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6514, 6753], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3729], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1465, 4056], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4056, 4905], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4905, 5245], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5245, 5728], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5728, 5854], + "skill_idxes": [13] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5854, 6514], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6514, 6753], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302780.json b/annotations/task-0030/episode_00302780.json new file mode 100644 index 0000000000000000000000000000000000000000..380dbf63fc2b55d97cbf1408d090ee411baa30e2 --- /dev/null +++ b/annotations/task-0030/episode_00302780.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7604, + "valid_duration": [46, 7650] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [46, 337], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [338, 1746], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1747, 2128], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2128, 2627], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2628, 3073], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3074, 3252], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3252, 3747], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3747, 4247], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4247, 5017], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5017, 5472], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5473, 5827], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5828, 5903], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5903, 6264], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6264, 6523], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6523, 6658], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6659, 7091], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7092, 7650], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [46, 3747], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2128, 4247], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4247, 5472], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5473, 5827], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5828, 6264], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_75"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6264, 6658], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6659, 7091], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7092, 7650], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302800.json b/annotations/task-0030/episode_00302800.json new file mode 100644 index 0000000000000000000000000000000000000000..67225a568da668548ac8e60cd8e6dd5287418972 --- /dev/null +++ b/annotations/task-0030/episode_00302800.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6382, + "valid_duration": [38, 6420] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [38, 66], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [66, 790], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [790, 1140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1140, 1290], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1290, 1722], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1722, 2194], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2194, 2540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2540, 2937], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2937, 3423], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3423, 3857], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3857, 4258], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4258, 4605], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4605, 5064], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5064, 5414], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5414, 5581], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5581, 6153], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6153, 6420], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [38, 2540], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1140, 2937], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2937, 3857], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3857, 4258], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4258, 5064], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5064, 5581], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5581, 6153], + "skill_idxes": [15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6153, 6420], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302910.json b/annotations/task-0030/episode_00302910.json new file mode 100644 index 0000000000000000000000000000000000000000..e26e5c2f1748a3ca25cab58f09cd68ebc0fab941 --- /dev/null +++ b/annotations/task-0030/episode_00302910.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 6920, + "valid_duration": [0, 6920] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 624], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [624, 1713], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1713, 2238], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2238, 2322], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2322, 2668], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2668, 3003], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3003, 3378], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3378, 3883], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3883, 4420], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4420, 4824], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5002, 5091], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5091, 5205], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5205, 5587], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["firewood_75", "lighter_73"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5587, 5736], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5736, 6183], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6183, 6690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6690, 6920], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3378], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76", "firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2238, 3883], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3883, 4824], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5002, 5091], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5091, 5587], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["firewood_75", "lighter_73"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5587, 5736], + "skill_idxes": [13] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5736, 6690], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6690, 6920], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302940.json b/annotations/task-0030/episode_00302940.json new file mode 100644 index 0000000000000000000000000000000000000000..8f22d0f7f1eadc4dc63f921cd441dcdc9abf1140 --- /dev/null +++ b/annotations/task-0030/episode_00302940.json @@ -0,0 +1,292 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 7620, + "valid_duration": [90, 7710] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 570], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [570, 960], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [960, 1350], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1350, 2580], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2580, 3270], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3270, 3510], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3510, 3890], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3890, 4233], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4233, 4953], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4953, 6042], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6042, 6272], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6272, 6380], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6383, 6776], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6776, 6902], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 14, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6902, 7562], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 15, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7562, 7710], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 3890], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1350, 4233], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4233, 6042], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6042, 6272], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6272, 6776], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6776, 6902], + "skill_idxes": [13] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6902, 7562], + "skill_idxes": [14] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7562, 7710], + "skill_idxes": [15] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0030/episode_00302960.json b/annotations/task-0030/episode_00302960.json new file mode 100644 index 0000000000000000000000000000000000000000..c4f635532851b293f6ef811e1976efdb8d7e1dac --- /dev/null +++ b/annotations/task-0030/episode_00302960.json @@ -0,0 +1,304 @@ +{ + "task_name": "setting the fire", + "data_folder": "", + "meta_data": { + "task_duration": 5721, + "valid_duration": [90, 5811] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["newspaper_74"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 132], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [132, 510], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [510, 630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_75"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [630, 870], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_75", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [870, 1260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1260, 1791], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1791, 2331], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2331, 2712], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["lighter_73"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2721, 3009], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3009, 3561], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3561, 3759], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["firewood_76"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3759, 3930], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3930, 4497], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [88], + "skill_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4497, 4800], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["wood_fireplace_gpnsij_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4800, 5238], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5238, 5550], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5550, 5811], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["newspaper_74", "newspaper_74"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 2331], + "skill_idxes": [0, 1, 2, 5, 6] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_75", "firewood_75"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [630, 2712], + "skill_idxes": [3, 4, 5, 7] + }, + { + "primitive_idx": 2, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["lighter_73", "coffee_table_koagbh_0"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2721, 3561], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 3, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3561, 3759], + "skill_idxes": [10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["firewood_76", "floors_ulujpr_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3759, 4497], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 5, + "primitive_id": [88], + "primitive_description": ["ignite"], + "object_id": [["lighter_73", "firewood_76"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4497, 4800], + "skill_idxes": [13] + }, + { + "primitive_idx": 6, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]], + "manipulating_object_id": ["firewood_76"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4800, 5550], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 7, + "primitive_id": [70], + "primitive_description": ["turn off switch"], + "object_id": [["lighter_73"]], + "manipulating_object_id": ["lighter_73"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5550, 5811], + "skill_idxes": [16] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370040.json b/annotations/task-0037/episode_00370040.json new file mode 100644 index 0000000000000000000000000000000000000000..23cc0e59f52bc86c27bf68bc09b4426459e06787 --- /dev/null +++ b/annotations/task-0037/episode_00370040.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4979, + "valid_duration": [0, 4979] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 396], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [609, 1320], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1334, 2106], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2137, 2241], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2427, 4589], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4596, 4979], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4979], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370080.json b/annotations/task-0037/episode_00370080.json new file mode 100644 index 0000000000000000000000000000000000000000..feea90e66275e282f2fb6b1fe9aeb3399b81e97f --- /dev/null +++ b/annotations/task-0037/episode_00370080.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4563, + "valid_duration": [0, 4563] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 450], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [570, 1129], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1170, 1571], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1571, 1807], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1953, 4371], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4371, 4563], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4563], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370120.json b/annotations/task-0037/episode_00370120.json new file mode 100644 index 0000000000000000000000000000000000000000..551b6580ab073934eb069bbb93cad9c38768da28 --- /dev/null +++ b/annotations/task-0037/episode_00370120.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 5543, + "valid_duration": [0, 5543] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 559], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [567, 1047], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1047, 1576], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1606, 1990], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1991, 5070], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5070, 5543], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5543], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370240.json b/annotations/task-0037/episode_00370240.json new file mode 100644 index 0000000000000000000000000000000000000000..07c9cffc649bdc90d6e180c0f3173305f0264f2b --- /dev/null +++ b/annotations/task-0037/episode_00370240.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4474, + "valid_duration": [0, 4474] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 205], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [331, 945], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [945, 1586], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1586, 1692], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1701, 4085], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4085, 4474], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4474], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370250.json b/annotations/task-0037/episode_00370250.json new file mode 100644 index 0000000000000000000000000000000000000000..3e812062b5ffb76540aaebeaf90543b5d70dc870 --- /dev/null +++ b/annotations/task-0037/episode_00370250.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 6265, + "valid_duration": [46, 6311] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [46, 422], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [422, 1549], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1779, 2387], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2435, 2644], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2644, 5764], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5901, 6311], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [46, 6311], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370280.json b/annotations/task-0037/episode_00370280.json new file mode 100644 index 0000000000000000000000000000000000000000..e3d77c6737ba95995710bb33eec3ddaa071d2435 --- /dev/null +++ b/annotations/task-0037/episode_00370280.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 6062, + "valid_duration": [30, 6092] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 482], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [482, 1428], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1429, 2234], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2234, 2512], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2512, 5723], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5723, 6092], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 6092], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370330.json b/annotations/task-0037/episode_00370330.json new file mode 100644 index 0000000000000000000000000000000000000000..eec2d118d01af40973ef1093439dd76c683317ff --- /dev/null +++ b/annotations/task-0037/episode_00370330.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 5969, + "valid_duration": [30, 5999] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 330], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [883, 1779], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1886, 2490], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2490, 2608], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2608, 5361], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5561, 5999], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 5999], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370460.json b/annotations/task-0037/episode_00370460.json new file mode 100644 index 0000000000000000000000000000000000000000..1aad46d756d257d4d42047a011776ce25e90d6c4 --- /dev/null +++ b/annotations/task-0037/episode_00370460.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4693, + "valid_duration": [0, 4693] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 187], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [187, 770], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [770, 1563], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1563, 2061], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2061, 4356], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4356, 4693], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4693], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370470.json b/annotations/task-0037/episode_00370470.json new file mode 100644 index 0000000000000000000000000000000000000000..8736274a938699b376be6df324e9be181f6ce45b --- /dev/null +++ b/annotations/task-0037/episode_00370470.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 6021, + "valid_duration": [0, 6021] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 213], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [513, 1336], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1336, 2316], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2316, 2963], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3203, 5701], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5746, 6021], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 6021], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370500.json b/annotations/task-0037/episode_00370500.json new file mode 100644 index 0000000000000000000000000000000000000000..ea64590a0e8b232a0c0b46d53dca886578af7d77 --- /dev/null +++ b/annotations/task-0037/episode_00370500.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4805, + "valid_duration": [0, 4805] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 961], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [961, 1769], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1844, 2371], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2424, 2571], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2571, 4458], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4495, 4805], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4805], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370670.json b/annotations/task-0037/episode_00370670.json new file mode 100644 index 0000000000000000000000000000000000000000..439b1b968185d79b56d190d97a2415f7ecd8f89a --- /dev/null +++ b/annotations/task-0037/episode_00370670.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4064, + "valid_duration": [0, 4064] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 87], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [126, 798], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [851, 1388], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1465, 1747], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1747, 3783], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3783, 4064], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4064], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370710.json b/annotations/task-0037/episode_00370710.json new file mode 100644 index 0000000000000000000000000000000000000000..d2aea796d2e68b644610585e752b24308d7d00c0 --- /dev/null +++ b/annotations/task-0037/episode_00370710.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 5877, + "valid_duration": [0, 5877] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 319], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [319, 1213], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1213, 1691], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1691, 2173], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2173, 5193], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5193, 5877], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5877], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370800.json b/annotations/task-0037/episode_00370800.json new file mode 100644 index 0000000000000000000000000000000000000000..81db7571ac2804f719868fe8f5370fc8e3537a69 --- /dev/null +++ b/annotations/task-0037/episode_00370800.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4367, + "valid_duration": [0, 4367] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 532], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [533, 1936], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1936, 2376], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2376, 2451], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2452, 4181], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [["", "to_the_edge_of"]], + "frame_duration": [4181, 4367], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [[], [], [[], ["to_the_edge_of"]]], + "frame_duration": [0, 4367], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370810.json b/annotations/task-0037/episode_00370810.json new file mode 100644 index 0000000000000000000000000000000000000000..b1ad7845352e4042eb17248119912f23f42abffe --- /dev/null +++ b/annotations/task-0037/episode_00370810.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 5348, + "valid_duration": [0, 5348] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 323], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [323, 1646], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1806, 2201], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2202, 2340], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2340, 5046], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5046, 5348], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5348], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00370960.json b/annotations/task-0037/episode_00370960.json new file mode 100644 index 0000000000000000000000000000000000000000..e3717a7c7ae341b0529b99b06b19feae37e2b168 --- /dev/null +++ b/annotations/task-0037/episode_00370960.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 5118, + "valid_duration": [0, 5118] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 160], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [453, 1046], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1200, 1500], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1827, 2241], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2242, 4840], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4840, 5118], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5118], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00371070.json b/annotations/task-0037/episode_00371070.json new file mode 100644 index 0000000000000000000000000000000000000000..cd3de15028ff7eb91f8e27fc20b2096b4f8ca4b6 --- /dev/null +++ b/annotations/task-0037/episode_00371070.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 5430, + "valid_duration": [0, 5430] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 746], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [750, 1850], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1850, 2648], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2648, 2991], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3052, 5250], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5250, 5430], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5430], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00371110.json b/annotations/task-0037/episode_00371110.json new file mode 100644 index 0000000000000000000000000000000000000000..58e416a53fecb284b7f298f1a1fa2f85d39c8e1c --- /dev/null +++ b/annotations/task-0037/episode_00371110.json @@ -0,0 +1,130 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 5334, + "valid_duration": [0, 5334] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 648], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["trumpet_87", "desk_aduafr_0"]], + "manipulating_object_id": ["trumpet_87"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [648, 1544], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["trumpet_87", "desk_aduafr_0"]], + "manipulating_object_id": ["trumpet_87"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1544, 2015], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2015, 2928], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2928, 3422], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3422, 3513], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3513, 5127], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5127, 5334], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [["trumpet_87", "desk_aduafr_0"], ["trumpet_87", "desk_aduafr_0"]], + "manipulating_object_id": ["trumpet_87", "trumpet_87"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2015], + "skill_idxes": [0, 1, 2] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2015, 5334], + "skill_idxes": [3, 4, 5, 6, 7] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00371260.json b/annotations/task-0037/episode_00371260.json new file mode 100644 index 0000000000000000000000000000000000000000..360f79542c1de7cb1969aca7ce3ae731737fe81f --- /dev/null +++ b/annotations/task-0037/episode_00371260.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4734, + "valid_duration": [0, 4734] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 627], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1208, 2154], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2155, 2761], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2761, 2837], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2837, 4545], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4545, 4734], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4734], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00371320.json b/annotations/task-0037/episode_00371320.json new file mode 100644 index 0000000000000000000000000000000000000000..f603825515faf6e9be129e7fbdd83162c79a9bb8 --- /dev/null +++ b/annotations/task-0037/episode_00371320.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 5339, + "valid_duration": [0, 5339] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 503], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [503, 1658], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1658, 2098], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2416, 3061], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3455, 5134], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5134, 5339], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5339], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00371450.json b/annotations/task-0037/episode_00371450.json new file mode 100644 index 0000000000000000000000000000000000000000..3dcda273c8c24f287355561bce5581efb77b847a --- /dev/null +++ b/annotations/task-0037/episode_00371450.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4358, + "valid_duration": [0, 4358] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 490], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1113, 2208], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2208, 2439], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2439, 2599], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2599, 4033], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4033, 4358], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4358], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00371490.json b/annotations/task-0037/episode_00371490.json new file mode 100644 index 0000000000000000000000000000000000000000..33b3c4f1e4e28414d7033584df59d799e1f4b851 --- /dev/null +++ b/annotations/task-0037/episode_00371490.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 5141, + "valid_duration": [0, 5141] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 232], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [232, 1517], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1517, 1900], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1900, 2108], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2108, 4768], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4768, 5141], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5141], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00371530.json b/annotations/task-0037/episode_00371530.json new file mode 100644 index 0000000000000000000000000000000000000000..d6155e1ccd8608fcbf7847a5f4ccf75465bef40a --- /dev/null +++ b/annotations/task-0037/episode_00371530.json @@ -0,0 +1,142 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4578, + "valid_duration": [0, 4578] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 769], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["trumpet_87", "desk_aduafr_0"]], + "manipulating_object_id": ["trumpet_87"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [769, 1808], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["trumpet_87", "desk_aduafr_0"]], + "manipulating_object_id": ["trumpet_87"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1808, 2102], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2102, 2156], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2156, 2460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2460, 2754], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2754, 2965], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2965, 4298], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4298, 4578], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [["trumpet_87", "desk_aduafr_0"], ["trumpet_87", "desk_aduafr_0"]], + "manipulating_object_id": ["trumpet_87", "trumpet_87"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2102], + "skill_idxes": [0, 1, 2] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2102, 4578], + "skill_idxes": [3, 4, 5, 6, 7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00371640.json b/annotations/task-0037/episode_00371640.json new file mode 100644 index 0000000000000000000000000000000000000000..0967da362841e572d54c0e57e28c0f7da9c994bf --- /dev/null +++ b/annotations/task-0037/episode_00371640.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4300, + "valid_duration": [0, 4300] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 736], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [737, 1955], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1955, 2356], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2357, 2556], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2556, 4022], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4022, 4300], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4300], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00371650.json b/annotations/task-0037/episode_00371650.json new file mode 100644 index 0000000000000000000000000000000000000000..ec0c85f043f613436529f1c4559683fa9c39af4b --- /dev/null +++ b/annotations/task-0037/episode_00371650.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 5304, + "valid_duration": [0, 5304] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 387], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [388, 1616], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1616, 2141], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2429, 2904], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2905, 5013], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5013, 5304], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5304], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00371680.json b/annotations/task-0037/episode_00371680.json new file mode 100644 index 0000000000000000000000000000000000000000..110152808ed8026371e3caad1e8b12cb41707e32 --- /dev/null +++ b/annotations/task-0037/episode_00371680.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4446, + "valid_duration": [0, 4446] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 481], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [481, 2162], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2162, 2651], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2651, 2739], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2741, 4237], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4237, 4446], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4446], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00371720.json b/annotations/task-0037/episode_00371720.json new file mode 100644 index 0000000000000000000000000000000000000000..dd2146153889b7de1298cafb0fa140ff4d90f339 --- /dev/null +++ b/annotations/task-0037/episode_00371720.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 5392, + "valid_duration": [0, 5392] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 352], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [353, 1383], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1383, 1893], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1893, 2738], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2738, 5136], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5136, 5392], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5392], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00371730.json b/annotations/task-0037/episode_00371730.json new file mode 100644 index 0000000000000000000000000000000000000000..86b76828c3fdd5b6bf216e4ca768991f7d00bb4a --- /dev/null +++ b/annotations/task-0037/episode_00371730.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 5654, + "valid_duration": [0, 5654] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 414], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [414, 3201], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3201, 3610], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3610, 3854], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3855, 5243], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5244, 5654], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5654], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00372140.json b/annotations/task-0037/episode_00372140.json new file mode 100644 index 0000000000000000000000000000000000000000..fe7d83e078a59362e46d90101af80579b334f391 --- /dev/null +++ b/annotations/task-0037/episode_00372140.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 5852, + "valid_duration": [28, 5880] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [28, 797], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [797, 2200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2201, 2802], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2803, 2985], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2986, 5150], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5150, 5880], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [28, 5880], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00372180.json b/annotations/task-0037/episode_00372180.json new file mode 100644 index 0000000000000000000000000000000000000000..84e72e6ffe3698af3ae2f341580adf528d96e0da --- /dev/null +++ b/annotations/task-0037/episode_00372180.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4597, + "valid_duration": [0, 4597] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 865], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [868, 2054], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2054, 2838], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2838, 2940], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2940, 4433], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4434, 4597], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4597], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00372230.json b/annotations/task-0037/episode_00372230.json new file mode 100644 index 0000000000000000000000000000000000000000..50adfabae73c119a70530b8c255822dfec67e0c9 --- /dev/null +++ b/annotations/task-0037/episode_00372230.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 7123, + "valid_duration": [0, 7123] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 796], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [796, 3280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3702, 4324], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4376, 4821], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5067, 6783], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6783, 7123], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 7123], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00372350.json b/annotations/task-0037/episode_00372350.json new file mode 100644 index 0000000000000000000000000000000000000000..dc17330b4151d171cd9afc74a5c8fb912bb30a5f --- /dev/null +++ b/annotations/task-0037/episode_00372350.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4637, + "valid_duration": [0, 4637] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 416], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [416, 1641], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1641, 2080], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2080, 2495], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2495, 4193], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4194, 4637], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4637], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00372390.json b/annotations/task-0037/episode_00372390.json new file mode 100644 index 0000000000000000000000000000000000000000..703a276a9b2e41b34c83f2c9a92c2d0ee24eb318 --- /dev/null +++ b/annotations/task-0037/episode_00372390.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4599, + "valid_duration": [0, 4599] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 658], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1236, 2003], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2299, 2753], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2766, 3005], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3006, 4382], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4382, 4599], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4599], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00372400.json b/annotations/task-0037/episode_00372400.json new file mode 100644 index 0000000000000000000000000000000000000000..74947a6cf0105489a9da73d113cfd925b50a44ab --- /dev/null +++ b/annotations/task-0037/episode_00372400.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 5351, + "valid_duration": [0, 5351] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 696], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [711, 1501], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1501, 2106], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2423, 2757], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2757, 5086], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5087, 5351], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 5351], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00372410.json b/annotations/task-0037/episode_00372410.json new file mode 100644 index 0000000000000000000000000000000000000000..dc63e451f1918de3ce8c8dfc9193e4821e6e4b68 --- /dev/null +++ b/annotations/task-0037/episode_00372410.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4028, + "valid_duration": [0, 4028] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 486], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [486, 1509], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1509, 1963], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1963, 2262], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2262, 3810], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3810, 4028], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 4028], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00372770.json b/annotations/task-0037/episode_00372770.json new file mode 100644 index 0000000000000000000000000000000000000000..1739a27818f008d4ecad18ec87b89867ab91b959 --- /dev/null +++ b/annotations/task-0037/episode_00372770.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4032, + "valid_duration": [30, 4062] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 544], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [545, 1509], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1509, 1768], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1768, 1871], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1871, 3812], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3812, 4062], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 4062], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0037/episode_00372900.json b/annotations/task-0037/episode_00372900.json new file mode 100644 index 0000000000000000000000000000000000000000..a1a0ab265feae861d84cbc256151c802772e7d59 --- /dev/null +++ b/annotations/task-0037/episode_00372900.json @@ -0,0 +1,95 @@ +{ + "task_name": "clean a trumpet", + "data_folder": "", + "meta_data": { + "task_duration": 4469, + "valid_duration": [9, 4478] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["scrub_brush_86"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9, 506], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [506, 1080], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [5], + "skill_description": ["hand over"], + "object_id": [["scrub_brush_86", "left", "right"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1080, 1506], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["trumpet_87"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1581, 1767], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [46], + "skill_description": ["wipe hard"], + "object_id": [["scrub_brush_86", "trumpet_87"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2172, 4247], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4260, 4478], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2, 46, 3], + "primitive_description": ["pick up from", "wipe hard", "place on"], + "object_id": [["scrub_brush_86", "desk_aduafr_0"], ["scrub_brush_86", "trumpet_87"], ["scrub_brush_86", "desk_aduafr_0"]], + "manipulating_object_id": ["scrub_brush_86", "scrub_brush_86", "scrub_brush_86"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9, 4478], + "skill_idxes": [0, 1, 2, 3, 4, 5] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380010.json b/annotations/task-0038/episode_00380010.json new file mode 100644 index 0000000000000000000000000000000000000000..07caac64e9448b514e5946cb0e5011c89dfdcaad --- /dev/null +++ b/annotations/task-0038/episode_00380010.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7185, + "valid_duration": [150, 7335] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [150, 1033], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1033, 1662], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1663, 2386], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2386, 2609], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2670, 4031], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4091, 4314], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4374, 5315], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5315, 5496], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5496, 6992], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7082, 7335], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [150, 1662], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1663, 4314], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4374, 7335], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380020.json b/annotations/task-0038/episode_00380020.json new file mode 100644 index 0000000000000000000000000000000000000000..0e042d8430a434fd04bfada3e3d7dcf566808b3a --- /dev/null +++ b/annotations/task-0038/episode_00380020.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5361, + "valid_duration": [53, 5414] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [53, 861], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [861, 1233], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1234, 1437], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1437, 1669], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1669, 3073], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3073, 3270], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3270, 3793], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3794, 3967], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3967, 5165], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5165, 5414], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [53, 1233], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1234, 3270], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3270, 5414], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380030.json b/annotations/task-0038/episode_00380030.json new file mode 100644 index 0000000000000000000000000000000000000000..66d90c29823301e778aa1fc43f30f5585b6ed2c2 --- /dev/null +++ b/annotations/task-0038/episode_00380030.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6879, + "valid_duration": [60, 6939] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1009], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1009, 1640], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1739, 2404], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2404, 2714], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2715, 4565], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4577, 4833], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4833, 5484], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5484, 5611], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5611, 6675], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6701, 6939], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1640], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1739, 4833], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4833, 6939], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380040.json b/annotations/task-0038/episode_00380040.json new file mode 100644 index 0000000000000000000000000000000000000000..9ae87e9ecbe65a9b8f9d182784d63833a43c3159 --- /dev/null +++ b/annotations/task-0038/episode_00380040.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5844, + "valid_duration": [0, 5844] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 276], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [374, 767], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [780, 1173], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1173, 1385], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1385, 3252], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3337, 3459], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3459, 3995], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3996, 4188], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4188, 5650], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5651, 5844], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 767], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [780, 3459], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3459, 5844], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380050.json b/annotations/task-0038/episode_00380050.json new file mode 100644 index 0000000000000000000000000000000000000000..d48ba34fb118848fc9801022393011138d60f45f --- /dev/null +++ b/annotations/task-0038/episode_00380050.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7350, + "valid_duration": [0, 7350] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 750], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [756, 1320], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1326, 1740], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1746, 1950], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1950, 3780], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3786, 4050], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4052, 5305], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5307, 5460], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5466, 7140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7146, 7350], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1320], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1326, 4050], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4052, 7350], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380060.json b/annotations/task-0038/episode_00380060.json new file mode 100644 index 0000000000000000000000000000000000000000..a4b31118ed8f098c97595fda13504dc9f518c6f9 --- /dev/null +++ b/annotations/task-0038/episode_00380060.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5906, + "valid_duration": [0, 5906] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 998], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [999, 1336], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1336, 1549], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1579, 1806], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1806, 3515], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3545, 3743], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3744, 4086], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4117, 4259], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4259, 5724], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5755, 5906], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1336], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1336, 3743], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3744, 5906], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380080.json b/annotations/task-0038/episode_00380080.json new file mode 100644 index 0000000000000000000000000000000000000000..ba20450a8ed1213f554062299b0177febc06346e --- /dev/null +++ b/annotations/task-0038/episode_00380080.json @@ -0,0 +1,261 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6806, + "valid_duration": [0, 6806] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 559], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [559, 1319], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1319, 2214], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2214, 2337], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2337, 3166], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["garden_chair_lraplz_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3166, 3318], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["garden_chair_lraplz_0", "robot"]], + "manipulating_object_id": ["garden_chair_lraplz_0"], + "memory_prefix": [], + "spatial_prefix": [["", "away"]], + "frame_duration": [3318, 3408], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3408, 3745], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3745, 4205], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4205, 4339], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["garden_chair_cottya_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4339, 4560], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 11, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["garden_chair_cottya_0", "robot"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["", "away"]], + "frame_duration": [4560, 4772], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["garden_chair_cottya_1"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4772, 4920], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["garden_chair_cottya_1", "robot"]], + "manipulating_object_id": ["garden_chair_cottya_1"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "away"]], + "frame_duration": [4920, 5050], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5050, 5275], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5275, 5446], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5446, 6638], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6638, 6806], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1319], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1319, 4339], + "skill_idxes": [2, 3, 4, 5, 6, 7, 8, 9] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4339, 6806], + "skill_idxes": [10, 11, 12, 13, 14, 15, 16, 17] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380100.json b/annotations/task-0038/episode_00380100.json new file mode 100644 index 0000000000000000000000000000000000000000..a9b516ed7b677620a3cd172f5474ecf7561ad709 --- /dev/null +++ b/annotations/task-0038/episode_00380100.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6582, + "valid_duration": [0, 6582] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 784], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [800, 1456], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1520, 2471], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2482, 2740], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2756, 3998], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4014, 4266], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4320, 4734], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4820, 5018], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5018, 6227], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6254, 6582], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1456], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1520, 4266], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4320, 6582], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380110.json b/annotations/task-0038/episode_00380110.json new file mode 100644 index 0000000000000000000000000000000000000000..5b5d2f8e125d02515b1b24343673ad58a86a50cd --- /dev/null +++ b/annotations/task-0038/episode_00380110.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5650, + "valid_duration": [12, 5662] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12, 1309], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1309, 1689], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1718, 2693], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2694, 2934], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2962, 3991], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4010, 4164], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4164, 4491], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4494, 4623], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4632, 5425], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5442, 5662], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12, 1689], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1718, 4164], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4164, 5662], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380120.json b/annotations/task-0038/episode_00380120.json new file mode 100644 index 0000000000000000000000000000000000000000..7341f9480ddc6e43db0220bbf329b3d8769e3f1b --- /dev/null +++ b/annotations/task-0038/episode_00380120.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5925, + "valid_duration": [75, 6000] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["floors_ghetev_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [75, 150], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [150, 593], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [593, 1410], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1411, 1620], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1620, 2690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2727, 2939], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2939, 4293], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4293, 4462], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4470, 5729], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5739, 6000], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [75, 593], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [593, 2939], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2939, 6000], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380140.json b/annotations/task-0038/episode_00380140.json new file mode 100644 index 0000000000000000000000000000000000000000..1f6a3a4b2bf0f602ce186f66e9ba7a87734b1ff0 --- /dev/null +++ b/annotations/task-0038/episode_00380140.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6198, + "valid_duration": [0, 6198] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2082], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2082, 2739], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2739, 2849], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2850, 3099], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3099, 4110], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4110, 4276], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4285, 4695], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4695, 4864], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4864, 6045], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6083, 6198], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2739], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2739, 4276], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4285, 6198], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380150.json b/annotations/task-0038/episode_00380150.json new file mode 100644 index 0000000000000000000000000000000000000000..7aa0a3811c8ea21f4d29f883519c14fb185824fa --- /dev/null +++ b/annotations/task-0038/episode_00380150.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5532, + "valid_duration": [57, 5589] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [57, 568], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [569, 1104], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1104, 2177], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2177, 2360], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2360, 3398], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3399, 3613], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3630, 3853], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3876, 4083], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4087, 5329], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5330, 5589], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [57, 1104], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1104, 3613], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3630, 5589], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380160.json b/annotations/task-0038/episode_00380160.json new file mode 100644 index 0000000000000000000000000000000000000000..c65aad73242ebb9c49b4aeb5f834e2d98ed8377a --- /dev/null +++ b/annotations/task-0038/episode_00380160.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5325, + "valid_duration": [0, 5325] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 255], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [255, 906], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [906, 1587], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1587, 1881], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1881, 2913], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2913, 3195], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3195, 3840], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3840, 4112], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4112, 5085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5085, 5325], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 906], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [906, 3195], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3195, 5325], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380170.json b/annotations/task-0038/episode_00380170.json new file mode 100644 index 0000000000000000000000000000000000000000..229f1e49d6c5566f6a137f2184819dcecfed8f47 --- /dev/null +++ b/annotations/task-0038/episode_00380170.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 8114, + "valid_duration": [240, 8354] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [240, 499], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [500, 1091], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1091, 1878], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": ["pot_plant_173"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2085, 2286], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2286, 3581], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3781, 4067], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4284, 5949], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": ["pot_plant_172"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6071, 6255], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6313, 8086], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8131, 8354], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [240, 1091], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1091, 4067], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4284, 8354], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380180.json b/annotations/task-0038/episode_00380180.json new file mode 100644 index 0000000000000000000000000000000000000000..f2bbb47cdd677bfdfba01ac1122593a2bc69ce21 --- /dev/null +++ b/annotations/task-0038/episode_00380180.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6187, + "valid_duration": [63, 6250] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [63, 1007], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1714, 2321], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2321, 3007], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3008, 3195], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3196, 4305], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4305, 4501], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4502, 4789], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4789, 5050], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5051, 5960], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6051, 6250], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [63, 2321], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2321, 4501], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4502, 6250], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380190.json b/annotations/task-0038/episode_00380190.json new file mode 100644 index 0000000000000000000000000000000000000000..eada54b9eb4c6996f844bc3c14864716c4532392 --- /dev/null +++ b/annotations/task-0038/episode_00380190.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5800, + "valid_duration": [0, 5800] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 372], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [378, 883], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [883, 1503], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1506, 1704], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1707, 2805], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2840, 3040], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3062, 4291], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4292, 4449], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4452, 5508], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5511, 5800], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 883], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [883, 3040], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3062, 5800], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380200.json b/annotations/task-0038/episode_00380200.json new file mode 100644 index 0000000000000000000000000000000000000000..23cb2d3dfcb78b8f7660b9cf71837bb1f8b2155e --- /dev/null +++ b/annotations/task-0038/episode_00380200.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5760, + "valid_duration": [93, 5853] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [93, 571], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [571, 1291], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1291, 2341], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2341, 2661], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2661, 3639], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3640, 3938], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3939, 4298], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4298, 4483], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4483, 5577], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5586, 5853], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [93, 1291], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1291, 3938], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3939, 5853], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380210.json b/annotations/task-0038/episode_00380210.json new file mode 100644 index 0000000000000000000000000000000000000000..ff04f56a958a27b705ae27ce20168d2ae95ca6d4 --- /dev/null +++ b/annotations/task-0038/episode_00380210.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6119, + "valid_duration": [2, 6121] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2, 925], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [926, 1350], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1350, 1673], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1674, 1931], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1931, 3169], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3169, 3386], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3386, 4244], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4244, 4443], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4443, 5914], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5915, 6121], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2, 1350], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1350, 3386], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3386, 6121], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380220.json b/annotations/task-0038/episode_00380220.json new file mode 100644 index 0000000000000000000000000000000000000000..2482fffe7e4d02d9a19f9bdc052696c046f0880e --- /dev/null +++ b/annotations/task-0038/episode_00380220.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5562, + "valid_duration": [0, 5562] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1060], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1060, 1568], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1568, 1614], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1614, 1943], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1944, 2892], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2892, 3201], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3201, 3759], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3759, 3914], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3914, 5327], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5327, 5562], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1568], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1568, 3201], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3201, 5562], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380230.json b/annotations/task-0038/episode_00380230.json new file mode 100644 index 0000000000000000000000000000000000000000..be189bda4df681bc84248bd4634c21a6469c72cf --- /dev/null +++ b/annotations/task-0038/episode_00380230.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7470, + "valid_duration": [30, 7500] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1071], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1071, 1689], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1689, 2295], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2296, 2637], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2637, 4141], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4141, 4416], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4416, 4824], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4824, 5208], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5209, 6990], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7161, 7500], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1689], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1689, 4416], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4416, 7500], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380240.json b/annotations/task-0038/episode_00380240.json new file mode 100644 index 0000000000000000000000000000000000000000..fb07a5750192bc318f171aef0cb26570bf30ec3e --- /dev/null +++ b/annotations/task-0038/episode_00380240.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5058, + "valid_duration": [0, 5058] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 630], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [630, 1138], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1138, 1435], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1435, 1711], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1741, 2925], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2994, 3208], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3211, 3689], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3689, 3921], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3922, 4829], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4833, 5058], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1138], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1138, 3208], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3211, 5058], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380260.json b/annotations/task-0038/episode_00380260.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea79c62a4b77bf6fada92e2c1ad67e6306fda5f --- /dev/null +++ b/annotations/task-0038/episode_00380260.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6020, + "valid_duration": [0, 6020] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1225], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1225, 1733], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1733, 1878], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1878, 2088], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2096, 3627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3635, 3885], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3885, 4261], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4265, 4455], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4488, 5753], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5786, 6020], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1733], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1733, 3885], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3885, 6020], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380280.json b/annotations/task-0038/episode_00380280.json new file mode 100644 index 0000000000000000000000000000000000000000..6d9b649c42389259ebd6f72f90dcfd0890be9f12 --- /dev/null +++ b/annotations/task-0038/episode_00380280.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7073, + "valid_duration": [34, 7107] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [34, 1725], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1725, 2310], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2310, 2938], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3090, 3249], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3249, 4276], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4456, 4764], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4764, 5541], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5542, 5710], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5710, 6826], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6880, 7107], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [34, 2310], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2310, 4764], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4764, 7107], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380290.json b/annotations/task-0038/episode_00380290.json new file mode 100644 index 0000000000000000000000000000000000000000..0ee187c80bf48cb8e500a9e84d0f8811c586887a --- /dev/null +++ b/annotations/task-0038/episode_00380290.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6625, + "valid_duration": [0, 6625] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1384], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1384, 1989], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1989, 2053], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2053, 2252], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2252, 3429], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3430, 3775], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3775, 4781], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4782, 4932], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4933, 6369], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6369, 6625], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1989], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1989, 3775], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3775, 6625], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380300.json b/annotations/task-0038/episode_00380300.json new file mode 100644 index 0000000000000000000000000000000000000000..69c3355adccdff219fe56f94f2afa110f9b5971f --- /dev/null +++ b/annotations/task-0038/episode_00380300.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5706, + "valid_duration": [0, 5706] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 738], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [738, 1278], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1278, 1962], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1962, 2289], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2289, 3540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3540, 3735], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3735, 4095], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4095, 4329], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4329, 5440], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5441, 5706], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1278], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1278, 3735], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3735, 5706], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380310.json b/annotations/task-0038/episode_00380310.json new file mode 100644 index 0000000000000000000000000000000000000000..848076df30a46623994b78ad4903020d95bc9929 --- /dev/null +++ b/annotations/task-0038/episode_00380310.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5146, + "valid_duration": [30, 5176] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [387, 827], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [827, 1522], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1522, 1701], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1710, 2960], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2960, 3159], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3170, 3436], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3452, 3732], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3766, 4943], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4955, 5176], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 827], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [827, 3159], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3170, 5176], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380320.json b/annotations/task-0038/episode_00380320.json new file mode 100644 index 0000000000000000000000000000000000000000..44565f91215aae5afbaa86bd544692a65ab1e499 --- /dev/null +++ b/annotations/task-0038/episode_00380320.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5670, + "valid_duration": [30, 5700] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1021], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1021, 1682], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1683, 1962], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1962, 2221], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2221, 3444], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3445, 3632], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3632, 4111], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4112, 4287], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4287, 5460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5460, 5700], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1682], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1683, 3632], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3632, 5700], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380330.json b/annotations/task-0038/episode_00380330.json new file mode 100644 index 0000000000000000000000000000000000000000..c88de2af12a9dbf23e88e987829e902832634e9a --- /dev/null +++ b/annotations/task-0038/episode_00380330.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 11403, + "valid_duration": [387, 11790] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [387, 1911], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1920, 2633], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2640, 3021], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3038, 3394], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3395, 7092], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7110, 7376], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7376, 7946], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7947, 8204], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8204, 11247], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11389, 11790], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [387, 2633], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2640, 7376], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7376, 11790], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380390.json b/annotations/task-0038/episode_00380390.json new file mode 100644 index 0000000000000000000000000000000000000000..417eeb79c3ca4d17dc79f50832df9fb1f48c8ca6 --- /dev/null +++ b/annotations/task-0038/episode_00380390.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 4952, + "valid_duration": [201, 5153] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [201, 744], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [744, 1176], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1176, 1357], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1357, 1556], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1556, 3029], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3029, 3219], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3219, 3333], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3334, 3536], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3537, 4956], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4956, 5153], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [201, 1176], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1176, 3219], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3219, 5153], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380400.json b/annotations/task-0038/episode_00380400.json new file mode 100644 index 0000000000000000000000000000000000000000..10f96aa79fba5596b6a1be0c2602efdb74cb8c2c --- /dev/null +++ b/annotations/task-0038/episode_00380400.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6031, + "valid_duration": [247, 6278] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [247, 876], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [877, 1346], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1347, 1662], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1662, 1863], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1863, 3386], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3386, 3666], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3666, 4311], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4312, 4547], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4547, 6051], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6051, 6278], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [247, 1346], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1347, 3666], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3666, 6278], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380420.json b/annotations/task-0038/episode_00380420.json new file mode 100644 index 0000000000000000000000000000000000000000..3b47c4b01b5016c77c95e48011765a496204e012 --- /dev/null +++ b/annotations/task-0038/episode_00380420.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 11539, + "valid_duration": [30, 11569] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1552], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1583, 2324], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2324, 3258], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3466, 3813], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3813, 6749], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6749, 7113], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7353, 8006], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8173, 8576], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8637, 11000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11124, 11569], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2324], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2324, 7113], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7353, 11569], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380430.json b/annotations/task-0038/episode_00380430.json new file mode 100644 index 0000000000000000000000000000000000000000..63261a96a93002f8bb4332ab4eaa8c5e37fa6e9d --- /dev/null +++ b/annotations/task-0038/episode_00380430.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6931, + "valid_duration": [0, 6931] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 170], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [180, 742], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [742, 1009], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1040, 1237], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1238, 3679], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3684, 3876], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3911, 4548], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4548, 4720], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4755, 6738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6738, 6931], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 742], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [742, 3876], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3911, 6931], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380440.json b/annotations/task-0038/episode_00380440.json new file mode 100644 index 0000000000000000000000000000000000000000..7bf54883971ed036d83385099e9517cf4297c527 --- /dev/null +++ b/annotations/task-0038/episode_00380440.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7745, + "valid_duration": [61, 7806] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [61, 671], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [671, 1068], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1068, 1581], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1581, 1830], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1830, 3934], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3934, 4095], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4095, 5825], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5825, 6062], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6062, 7627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7627, 7806], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [61, 1068], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1068, 4095], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4095, 7806], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380460.json b/annotations/task-0038/episode_00380460.json new file mode 100644 index 0000000000000000000000000000000000000000..c9d82c97d6ceae3155498d77d40018334b434ba3 --- /dev/null +++ b/annotations/task-0038/episode_00380460.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7290, + "valid_duration": [90, 7380] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 1306], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1440, 2003], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2006, 2177], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2177, 2580], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2730, 4499], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4500, 4902], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4902, 5407], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5407, 5750], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5750, 6915], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6923, 7380], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 2003], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2006, 4902], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4902, 7380], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380480.json b/annotations/task-0038/episode_00380480.json new file mode 100644 index 0000000000000000000000000000000000000000..c235f0bfa922e911432182512d70d4068ada8287 --- /dev/null +++ b/annotations/task-0038/episode_00380480.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 9060, + "valid_duration": [0, 9060] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1893], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1898, 2675], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2687, 3410], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3410, 3732], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3750, 5000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5000, 5361], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5492, 6536], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6539, 6782], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6782, 8675], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8752, 9060], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2675], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2687, 5361], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5492, 9060], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380500.json b/annotations/task-0038/episode_00380500.json new file mode 100644 index 0000000000000000000000000000000000000000..8d39ba8db42340225501503d7f5e178560c75100 --- /dev/null +++ b/annotations/task-0038/episode_00380500.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6270, + "valid_duration": [0, 6270] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 960], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [960, 1509], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1533, 1824], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1830, 2107], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2107, 3780], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3780, 3930], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3931, 4176], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4176, 4419], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4420, 6027], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6027, 6270], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1509], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1533, 3930], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3931, 6270], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380510.json b/annotations/task-0038/episode_00380510.json new file mode 100644 index 0000000000000000000000000000000000000000..4e78ff04458e0848f6dbed0cc764ba7f8065206e --- /dev/null +++ b/annotations/task-0038/episode_00380510.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7601, + "valid_duration": [0, 7601] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1792], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1792, 2188], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2188, 3202], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3202, 3465], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3465, 5337], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5337, 5511], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5511, 5980], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5980, 6116], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6117, 7332], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7332, 7601], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2188], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2188, 5511], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5511, 7601], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380540.json b/annotations/task-0038/episode_00380540.json new file mode 100644 index 0000000000000000000000000000000000000000..075caceaf3219b28edc2d0f5e7e241d5f9a22621 --- /dev/null +++ b/annotations/task-0038/episode_00380540.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5960, + "valid_duration": [244, 6204] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [244, 1375], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1375, 1945], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1945, 2730], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2730, 2942], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2942, 4133], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4159, 4338], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4339, 4961], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4961, 5109], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5109, 5994], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5994, 6204], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [244, 1945], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1945, 4338], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4339, 6204], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380550.json b/annotations/task-0038/episode_00380550.json new file mode 100644 index 0000000000000000000000000000000000000000..3fbbf07b19e2e48e76109af9d3fb85fac50848c5 --- /dev/null +++ b/annotations/task-0038/episode_00380550.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 8241, + "valid_duration": [45, 8286] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 543], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [570, 1423], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1431, 1503], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1503, 1810], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1810, 2835], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2836, 3239], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3239, 5572], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5581, 5974], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5974, 7972], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7972, 8286], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 1423], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1431, 3239], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3239, 8286], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380560.json b/annotations/task-0038/episode_00380560.json new file mode 100644 index 0000000000000000000000000000000000000000..c2310c1d924631a05d018c7e9c623cc2a29b69e6 --- /dev/null +++ b/annotations/task-0038/episode_00380560.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7035, + "valid_duration": [0, 7035] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1306], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1306, 1866], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1866, 2102], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2102, 2403], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2403, 4182], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4182, 4545], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4545, 5202], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5202, 5475], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5475, 6615], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6615, 7035], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1866], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1866, 4545], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4545, 7035], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380580.json b/annotations/task-0038/episode_00380580.json new file mode 100644 index 0000000000000000000000000000000000000000..6f698a039f2ce9d6e579446cd97308561316e417 --- /dev/null +++ b/annotations/task-0038/episode_00380580.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6229, + "valid_duration": [19, 6248] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [19, 741], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [742, 1167], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1167, 1465], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1466, 1689], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1689, 2965], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2965, 3135], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3135, 4032], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4078, 4260], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4261, 6028], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6029, 6248], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [19, 1167], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1167, 3135], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3135, 6248], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380600.json b/annotations/task-0038/episode_00380600.json new file mode 100644 index 0000000000000000000000000000000000000000..bd2b05eb905b5ce0f0ec899af8654e1b5fc22309 --- /dev/null +++ b/annotations/task-0038/episode_00380600.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5685, + "valid_duration": [132, 5817] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [132, 650], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [650, 1706], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1706, 1811], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1812, 2056], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2056, 3919], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3919, 4107], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4107, 4262], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4262, 4455], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4455, 5564], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5594, 5817], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [132, 1706], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1706, 4107], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4107, 5817], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380620.json b/annotations/task-0038/episode_00380620.json new file mode 100644 index 0000000000000000000000000000000000000000..037e249e5ae160776bdfc8b2f1100e6844e7a109 --- /dev/null +++ b/annotations/task-0038/episode_00380620.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6044, + "valid_duration": [61, 6105] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [61, 1059], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1080, 1560], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1560, 1682], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1697, 2003], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2003, 3545], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3578, 3798], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3798, 3914], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3914, 4086], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4087, 5884], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5932, 6105], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [61, 1560], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1560, 3798], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3798, 6105], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380630.json b/annotations/task-0038/episode_00380630.json new file mode 100644 index 0000000000000000000000000000000000000000..9693c641d1be3d8069546c4973597e09f76a31fc --- /dev/null +++ b/annotations/task-0038/episode_00380630.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7743, + "valid_duration": [0, 7743] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1072], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1072, 1886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1887, 3245], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3395, 3642], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3642, 4981], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4981, 5342], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5342, 5604], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5604, 5886], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5894, 7362], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7379, 7743], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1886], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1887, 5342], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5342, 7743], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380660.json b/annotations/task-0038/episode_00380660.json new file mode 100644 index 0000000000000000000000000000000000000000..9cb112a34cb9de4d72ce1bd1211cbff996059587 --- /dev/null +++ b/annotations/task-0038/episode_00380660.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6543, + "valid_duration": [0, 6543] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 801], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [801, 1289], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1289, 1529], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1529, 1831], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1831, 3556], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3556, 3735], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3735, 4692], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4692, 4883], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4887, 6387], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6389, 6543], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1289], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1289, 3735], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3735, 6543], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380680.json b/annotations/task-0038/episode_00380680.json new file mode 100644 index 0000000000000000000000000000000000000000..c53c29b8c34067b54410788018d164c8eec236e6 --- /dev/null +++ b/annotations/task-0038/episode_00380680.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7875, + "valid_duration": [0, 7875] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 963], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [969, 1737], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1738, 1985], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1985, 2271], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2271, 3475], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3475, 3842], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4837, 5513], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5693, 5956], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5965, 7451], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7465, 7875], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1737], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1738, 3842], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4837, 7875], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380690.json b/annotations/task-0038/episode_00380690.json new file mode 100644 index 0000000000000000000000000000000000000000..95963dc5a04bd0791d6eae651b9aaaa2144aaebd --- /dev/null +++ b/annotations/task-0038/episode_00380690.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6293, + "valid_duration": [37, 6330] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [37, 1065], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1065, 1486], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1486, 1563], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1563, 1850], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1854, 3171], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3172, 3339], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3339, 4830], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4830, 5002], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5003, 6110], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6110, 6330], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [37, 1486], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1486, 3339], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3339, 6330], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380700.json b/annotations/task-0038/episode_00380700.json new file mode 100644 index 0000000000000000000000000000000000000000..d425eeb2596a487c043c0c7d2111a251dd5f613a --- /dev/null +++ b/annotations/task-0038/episode_00380700.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6068, + "valid_duration": [30, 6098] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 564], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [585, 1080], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1084, 1355], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1356, 1644], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1644, 3086], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3086, 3337], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3337, 4068], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4069, 4303], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4304, 5785], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5786, 6098], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1080], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1084, 3337], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3337, 6098], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380710.json b/annotations/task-0038/episode_00380710.json new file mode 100644 index 0000000000000000000000000000000000000000..073aabdb08bb9008c303994887f074f26c0551d3 --- /dev/null +++ b/annotations/task-0038/episode_00380710.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 8759, + "valid_duration": [71, 8830] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [71, 354], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [354, 996], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [997, 1852], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1933, 2391], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2391, 4259], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4259, 4755], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4755, 6237], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6482, 6792], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6793, 8307], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8307, 8830], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [71, 996], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [997, 4755], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4755, 8830], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380720.json b/annotations/task-0038/episode_00380720.json new file mode 100644 index 0000000000000000000000000000000000000000..b4f4d62d2c01ecd49676d5de8385c8c68049693d --- /dev/null +++ b/annotations/task-0038/episode_00380720.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7071, + "valid_duration": [30, 7101] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1206], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1218, 1566], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1567, 2773], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2773, 2970], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2976, 4804], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4804, 5018], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5027, 5164], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5172, 5315], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5340, 6882], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6900, 7101], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1566], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1567, 5018], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5027, 7101], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380730.json b/annotations/task-0038/episode_00380730.json new file mode 100644 index 0000000000000000000000000000000000000000..bfd2b1958ac0469e1284d07d652951609bdf7203 --- /dev/null +++ b/annotations/task-0038/episode_00380730.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6832, + "valid_duration": [66, 6898] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [66, 448], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [448, 1114], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1115, 1674], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1674, 1975], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1975, 3744], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3750, 3980], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4029, 5172], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5172, 5380], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5380, 6658], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6700, 6898], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [66, 1114], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1115, 3980], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4029, 6898], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380740.json b/annotations/task-0038/episode_00380740.json new file mode 100644 index 0000000000000000000000000000000000000000..38984ed8fba7ba7c7187ca1bcea7364fb64c1136 --- /dev/null +++ b/annotations/task-0038/episode_00380740.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7114, + "valid_duration": [103, 7217] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [103, 1493], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1493, 2206], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2207, 2537], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2537, 2858], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2877, 4280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4280, 4693], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4697, 5259], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5273, 5535], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5535, 6909], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6909, 7217], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [103, 2206], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2207, 4693], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4697, 7217], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380760.json b/annotations/task-0038/episode_00380760.json new file mode 100644 index 0000000000000000000000000000000000000000..b1097451c6840d0e5c09564da5481de24d0609e9 --- /dev/null +++ b/annotations/task-0038/episode_00380760.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 8400, + "valid_duration": [0, 8400] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1634], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1639, 2641], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2670, 2790], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2790, 3123], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3123, 5037], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5042, 5431], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5431, 6246], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6247, 6535], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6541, 8106], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8114, 8400], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2641], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2670, 5431], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5431, 8400], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380770.json b/annotations/task-0038/episode_00380770.json new file mode 100644 index 0000000000000000000000000000000000000000..8aa686b7cf64737d5ea379a362e94f3704801142 --- /dev/null +++ b/annotations/task-0038/episode_00380770.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 11565, + "valid_duration": [60, 11625] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1988], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1988, 2816], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2817, 4179], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4179, 4441], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4441, 6115], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6123, 6605], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6605, 7636], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7648, 8011], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8024, 11182], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11182, 11625], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 2816], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2817, 6605], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6605, 11625], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380780.json b/annotations/task-0038/episode_00380780.json new file mode 100644 index 0000000000000000000000000000000000000000..f6e40a45981322e2258fc2754a026f284adb27c1 --- /dev/null +++ b/annotations/task-0038/episode_00380780.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7800, + "valid_duration": [0, 7800] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1217], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1275, 2119], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2142, 2427], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2427, 2869], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2874, 4138], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4138, 4480], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4671, 5328], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5328, 5575], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5766, 7278], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7278, 7800], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2119], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2142, 4480], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4671, 7800], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380800.json b/annotations/task-0038/episode_00380800.json new file mode 100644 index 0000000000000000000000000000000000000000..0ab03d23b0945d12506a5a7b60d5b757d0ca45a7 --- /dev/null +++ b/annotations/task-0038/episode_00380800.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 8429, + "valid_duration": [0, 8429] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1725], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1755, 2967], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2967, 3117], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3119, 3366], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3457, 4893], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4928, 5213], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5487, 6442], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6472, 6638], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6818, 8114], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8205, 8429], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2967], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2967, 5213], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5487, 8429], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380810.json b/annotations/task-0038/episode_00380810.json new file mode 100644 index 0000000000000000000000000000000000000000..8747f76db0000a45062985f69d92edbd86abd4d6 --- /dev/null +++ b/annotations/task-0038/episode_00380810.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7740, + "valid_duration": [0, 7740] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1185], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1186, 2017], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2018, 3264], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3265, 3563], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3563, 4753], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4767, 5061], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5061, 5566], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5566, 5835], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5836, 7234], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7528, 7740], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2017], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2018, 5061], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5061, 7740], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380830.json b/annotations/task-0038/episode_00380830.json new file mode 100644 index 0000000000000000000000000000000000000000..e76fbbaaba632c15f04b74db0acdd900dd652c37 --- /dev/null +++ b/annotations/task-0038/episode_00380830.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7260, + "valid_duration": [0, 7260] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["floors_ghetev_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1152], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1393, 2040], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2040, 2403], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2460, 2880], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2880, 3900], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4050, 4294], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4294, 5550], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5640, 5859], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5860, 6846], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6966, 7260], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2040], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2040, 4294], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4294, 7260], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380860.json b/annotations/task-0038/episode_00380860.json new file mode 100644 index 0000000000000000000000000000000000000000..abf11d151eaf62db0e38ed5c1890b7df2f74e252 --- /dev/null +++ b/annotations/task-0038/episode_00380860.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 8154, + "valid_duration": [0, 8154] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 591], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [591, 1552], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1553, 2410], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2410, 2590], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2590, 3969], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3969, 4286], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4286, 5874], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5874, 6083], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6083, 7814], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7816, 8154], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1552], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1553, 4286], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4286, 8154], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380880.json b/annotations/task-0038/episode_00380880.json new file mode 100644 index 0000000000000000000000000000000000000000..07a9b52e62ac02fdf9ee9989fd82644530b30a39 --- /dev/null +++ b/annotations/task-0038/episode_00380880.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6876, + "valid_duration": [174, 7050] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [174, 1043], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1044, 1460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1469, 1920], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1926, 2130], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2130, 4866], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4873, 5075], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5076, 5280], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5280, 5397], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5400, 6854], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6855, 7050], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [174, 1460], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1469, 5075], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5076, 7050], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380890.json b/annotations/task-0038/episode_00380890.json new file mode 100644 index 0000000000000000000000000000000000000000..28bb2ab687c1345e73a61878fb0b1eb5b79b690c --- /dev/null +++ b/annotations/task-0038/episode_00380890.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 8383, + "valid_duration": [72, 8455] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [72, 407], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [408, 1278], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1304, 1774], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1774, 2028], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2120, 3426], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4550, 4815], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5026, 6266], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6270, 6480], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6494, 8136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8222, 8455], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [72, 1278], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1304, 4815], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5026, 8455], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380900.json b/annotations/task-0038/episode_00380900.json new file mode 100644 index 0000000000000000000000000000000000000000..93ec8c3f56979ad180df1f7c3184012ee63ed638 --- /dev/null +++ b/annotations/task-0038/episode_00380900.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6084, + "valid_duration": [0, 6084] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 486], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [537, 960], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [960, 1060], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1060, 1230], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1231, 2873], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2874, 3140], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3148, 3745], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3748, 3904], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3908, 5962], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5969, 6084], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 960], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [960, 3140], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3148, 6084], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380910.json b/annotations/task-0038/episode_00380910.json new file mode 100644 index 0000000000000000000000000000000000000000..eaf161d091c211399ee09034b0447850155c1583 --- /dev/null +++ b/annotations/task-0038/episode_00380910.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7830, + "valid_duration": [120, 7950] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [120, 948], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [948, 1252], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1252, 1650], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1650, 1860], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1917, 3767], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3776, 3960], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3960, 5640], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5640, 5820], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5820, 7680], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7680, 7950], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [120, 1252], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1252, 3960], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3960, 7950], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380930.json b/annotations/task-0038/episode_00380930.json new file mode 100644 index 0000000000000000000000000000000000000000..0cc67338fb3a409b081d0a755e6b8a3cb51e0933 --- /dev/null +++ b/annotations/task-0038/episode_00380930.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5842, + "valid_duration": [0, 5842] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 859], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [859, 1561], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1561, 2103], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2103, 2252], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2252, 3504], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3504, 3666], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3666, 4284], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4284, 4429], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4429, 5594], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5594, 5842], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1561], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1561, 3666], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3666, 5842], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380940.json b/annotations/task-0038/episode_00380940.json new file mode 100644 index 0000000000000000000000000000000000000000..42571084bddd65c0ff7243b478903f681031a2d3 --- /dev/null +++ b/annotations/task-0038/episode_00380940.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 8656, + "valid_duration": [51, 8707] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [51, 1704], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1704, 2428], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2428, 2734], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2735, 2940], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2940, 4594], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4594, 4824], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4824, 6469], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6582, 6771], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6771, 8500], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8500, 8707], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [51, 2428], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2428, 4824], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4824, 8707], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380950.json b/annotations/task-0038/episode_00380950.json new file mode 100644 index 0000000000000000000000000000000000000000..eb5795c1cd2af4043e5090d9db2688126c224fd8 --- /dev/null +++ b/annotations/task-0038/episode_00380950.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7023, + "valid_duration": [245, 7268] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [245, 1406], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1407, 2119], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2119, 2297], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2297, 2523], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2523, 3630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3630, 3918], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3956, 5126], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5130, 5355], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5355, 6776], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6780, 7268], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [245, 2119], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2119, 3918], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3956, 7268], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380960.json b/annotations/task-0038/episode_00380960.json new file mode 100644 index 0000000000000000000000000000000000000000..18ceae1b1957f5735a62f5ab16142c926a78d473 --- /dev/null +++ b/annotations/task-0038/episode_00380960.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 8405, + "valid_duration": [0, 8405] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 355], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [356, 864], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [864, 1689], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1875, 2220], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2220, 3938], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3938, 4227], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4228, 5782], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5960, 6209], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6210, 7998], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8140, 8405], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 864], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [864, 4227], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4228, 8405], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380980.json b/annotations/task-0038/episode_00380980.json new file mode 100644 index 0000000000000000000000000000000000000000..d117fe7eed8643ba9b6f1e6b5d6e6f6fc65a601e --- /dev/null +++ b/annotations/task-0038/episode_00380980.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6012, + "valid_duration": [78, 6090] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [78, 720], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [723, 1316], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1316, 1847], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1848, 2161], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2177, 3811], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3836, 4001], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4001, 4161], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4197, 4326], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4341, 5879], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5898, 6090], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [78, 1316], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1316, 4001], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4001, 6090], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00380990.json b/annotations/task-0038/episode_00380990.json new file mode 100644 index 0000000000000000000000000000000000000000..9d43be2ccc4da0142bc73ea2784ab0045a123d65 --- /dev/null +++ b/annotations/task-0038/episode_00380990.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 8493, + "valid_duration": [111, 8604] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [111, 1059], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1059, 1718], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1718, 2191], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2491, 2919], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2926, 4401], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4402, 4827], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4827, 6164], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6340, 6804], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6804, 8256], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8356, 8604], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [111, 1718], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1718, 4827], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4827, 8604], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381010.json b/annotations/task-0038/episode_00381010.json new file mode 100644 index 0000000000000000000000000000000000000000..3276beaa070a3fb3082ba7c2f0767f693eeb38fa --- /dev/null +++ b/annotations/task-0038/episode_00381010.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5550, + "valid_duration": [0, 5550] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 473], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [473, 926], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [926, 1271], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1277, 1516], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1516, 2619], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2619, 2850], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2850, 3646], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3646, 3880], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3880, 5370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5370, 5550], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 926], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [926, 2850], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2850, 5550], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381020.json b/annotations/task-0038/episode_00381020.json new file mode 100644 index 0000000000000000000000000000000000000000..cec7c5635e40f96ae668381790a24f6f5b546cad --- /dev/null +++ b/annotations/task-0038/episode_00381020.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6152, + "valid_duration": [45, 6197] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 1690], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1690, 2057], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2057, 2541], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2541, 2719], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2720, 4035], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4036, 4187], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4187, 4810], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4810, 5111], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5111, 6017], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6017, 6197], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 2057], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2057, 4187], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4187, 6197], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381030.json b/annotations/task-0038/episode_00381030.json new file mode 100644 index 0000000000000000000000000000000000000000..fef6c65def3d54ec7f9aeda00ddb783f5e0e989e --- /dev/null +++ b/annotations/task-0038/episode_00381030.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5610, + "valid_duration": [30, 5640] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1350], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1383, 1774], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1783, 2252], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2253, 2493], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2508, 3510], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3510, 3709], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3709, 4378], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4378, 4569], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4569, 5432], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5433, 5640], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1774], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1783, 3709], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3709, 5640], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381040.json b/annotations/task-0038/episode_00381040.json new file mode 100644 index 0000000000000000000000000000000000000000..ae0dc2684b5452843b51ce929d1f0fcff1a7ea60 --- /dev/null +++ b/annotations/task-0038/episode_00381040.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7344, + "valid_duration": [133, 7477] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [133, 987], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [987, 1471], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1471, 1831], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1832, 2007], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2007, 4110], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4110, 4305], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4306, 5109], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5110, 5265], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5267, 7288], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7289, 7477], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [133, 1471], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1471, 4305], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4306, 7477], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381060.json b/annotations/task-0038/episode_00381060.json new file mode 100644 index 0000000000000000000000000000000000000000..7c35aee39a79da50c29f5750013128bc5da7584b --- /dev/null +++ b/annotations/task-0038/episode_00381060.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5936, + "valid_duration": [0, 5936] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 879], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [879, 1248], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1248, 1845], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1845, 2012], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2012, 3260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3261, 3414], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3414, 4219], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4220, 4368], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4368, 5712], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5712, 5936], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1248], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1248, 3414], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3414, 5936], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381070.json b/annotations/task-0038/episode_00381070.json new file mode 100644 index 0000000000000000000000000000000000000000..a95a8fcd6c7c37978000ab4fb1880918871d777c --- /dev/null +++ b/annotations/task-0038/episode_00381070.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6282, + "valid_duration": [0, 6282] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 526], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [531, 1243], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1243, 1574], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1574, 1800], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1815, 3520], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3587, 3757], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3785, 4020], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4027, 4200], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4203, 6066], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6069, 6282], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1243], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1243, 3757], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3785, 6282], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381080.json b/annotations/task-0038/episode_00381080.json new file mode 100644 index 0000000000000000000000000000000000000000..da265c80a02a5709718f5e6004f08a2a2843180c --- /dev/null +++ b/annotations/task-0038/episode_00381080.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7290, + "valid_duration": [0, 7290] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 744], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [756, 1327], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1334, 1914], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1918, 2139], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2139, 4008], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4009, 4221], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4264, 4921], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4922, 5149], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5170, 7122], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7122, 7290], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1327], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1334, 4221], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4264, 7290], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381090.json b/annotations/task-0038/episode_00381090.json new file mode 100644 index 0000000000000000000000000000000000000000..bb4283b7b178a24810546e90e60bb2174309389a --- /dev/null +++ b/annotations/task-0038/episode_00381090.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 8310, + "valid_duration": [60, 8370] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1050], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1050, 1530], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1530, 2220], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2250, 2490], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2490, 4179], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4179, 4359], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4359, 6054], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6054, 6240], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6240, 8171], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8171, 8370], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1530], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1530, 4359], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4359, 8370], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381100.json b/annotations/task-0038/episode_00381100.json new file mode 100644 index 0000000000000000000000000000000000000000..190d5594242efc4e81bab32fbc2dde27535dddb7 --- /dev/null +++ b/annotations/task-0038/episode_00381100.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6755, + "valid_duration": [51, 6806] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [51, 355], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [358, 1018], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1023, 1135], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1135, 1364], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1365, 3275], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3275, 3488], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3488, 4253], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4253, 4503], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4503, 6570], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6570, 6806], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [51, 1018], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1023, 3488], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3488, 6806], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381110.json b/annotations/task-0038/episode_00381110.json new file mode 100644 index 0000000000000000000000000000000000000000..613251dea3a7dc23aaa4ce4e3a726652ee76159e --- /dev/null +++ b/annotations/task-0038/episode_00381110.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5026, + "valid_duration": [0, 5026] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 106], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [107, 682], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [682, 1835], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1835, 2048], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2077, 3177], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3194, 3397], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3397, 3721], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3745, 3917], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3917, 4822], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4846, 5026], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 682], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [682, 3397], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3397, 5026], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381130.json b/annotations/task-0038/episode_00381130.json new file mode 100644 index 0000000000000000000000000000000000000000..7269ea7ab8cc6f5dda9accd08ec45d39b11c9abc --- /dev/null +++ b/annotations/task-0038/episode_00381130.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 4571, + "valid_duration": [0, 4571] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 571], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [573, 1128], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1128, 1830], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1843, 2012], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2037, 3282], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3291, 3450], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3451, 3552], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3556, 3729], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3729, 4374], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4386, 4571], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1128], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1128, 3450], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3451, 4571], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381150.json b/annotations/task-0038/episode_00381150.json new file mode 100644 index 0000000000000000000000000000000000000000..4c25db15c0a8ec9d1b00554fcebe550eb9daa64f --- /dev/null +++ b/annotations/task-0038/episode_00381150.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 4749, + "valid_duration": [11, 4760] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11, 371], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [371, 964], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [964, 1589], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1590, 1742], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1763, 2816], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2829, 2996], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2997, 3109], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3109, 3258], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3283, 4561], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4561, 4760], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11, 964], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [964, 2996], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2997, 4760], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381160.json b/annotations/task-0038/episode_00381160.json new file mode 100644 index 0000000000000000000000000000000000000000..52c7038d67bb637eced26eebffb803eb1b69a18f --- /dev/null +++ b/annotations/task-0038/episode_00381160.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6570, + "valid_duration": [30, 6600] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 720], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [723, 1314], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1320, 1987], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2004, 2160], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2160, 3420], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3420, 3630], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3630, 5251], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5268, 5430], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5445, 6360], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6372, 6600], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1314], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1320, 3630], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3630, 6600], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381170.json b/annotations/task-0038/episode_00381170.json new file mode 100644 index 0000000000000000000000000000000000000000..78d00224b3e7cdc404bbc50f5a991260647537f7 --- /dev/null +++ b/annotations/task-0038/episode_00381170.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7736, + "valid_duration": [93, 7829] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [93, 1023], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1026, 1479], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1491, 2575], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2596, 2845], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2845, 4448], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4448, 4696], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4696, 5085], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5096, 5247], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5247, 7632], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7648, 7829], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [93, 1479], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1491, 4696], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4696, 7829], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381180.json b/annotations/task-0038/episode_00381180.json new file mode 100644 index 0000000000000000000000000000000000000000..ca9754798b1dc8d6d3a0ec1ea31a8d3e98348f9c --- /dev/null +++ b/annotations/task-0038/episode_00381180.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7746, + "valid_duration": [0, 7746] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1656], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1656, 2142], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2142, 2418], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2418, 2667], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2667, 3900], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3900, 4104], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4104, 5217], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5256, 5509], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5509, 7470], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7470, 7746], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2142], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2142, 4104], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4104, 7746], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381190.json b/annotations/task-0038/episode_00381190.json new file mode 100644 index 0000000000000000000000000000000000000000..0ba31c41fb3f475ef8b730f857d2cab08cdfd272 --- /dev/null +++ b/annotations/task-0038/episode_00381190.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6270, + "valid_duration": [30, 6300] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1860], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1950, 2440], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2440, 3066], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3066, 3301], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3301, 4412], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4412, 4589], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4590, 4927], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4929, 5063], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5069, 6122], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6123, 6300], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2440], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2440, 4589], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4590, 6300], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381200.json b/annotations/task-0038/episode_00381200.json new file mode 100644 index 0000000000000000000000000000000000000000..0bc782989f3147ba4ec39b60b6214658f64b6903 --- /dev/null +++ b/annotations/task-0038/episode_00381200.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6260, + "valid_duration": [45, 6305] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 955], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [955, 1499], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1499, 1734], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1734, 1951], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1952, 3060], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3061, 3238], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3238, 5067], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5067, 5261], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5261, 6086], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6086, 6305], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 1499], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1499, 3238], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3238, 6305], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381210.json b/annotations/task-0038/episode_00381210.json new file mode 100644 index 0000000000000000000000000000000000000000..26c8d165d36c050fdcafb3c2277c2c9c96e5d488 --- /dev/null +++ b/annotations/task-0038/episode_00381210.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5580, + "valid_duration": [0, 5580] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 577], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [578, 947], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [955, 1123], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1123, 1374], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1379, 2604], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2607, 2792], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2821, 3906], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3924, 4156], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4171, 5410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5411, 5580], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 947], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [955, 2792], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2821, 5580], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381220.json b/annotations/task-0038/episode_00381220.json new file mode 100644 index 0000000000000000000000000000000000000000..628ff3c63e7f4b47f61cbafa49197ce5685a0dc3 --- /dev/null +++ b/annotations/task-0038/episode_00381220.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7136, + "valid_duration": [64, 7200] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [64, 879], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [879, 1380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1380, 2002], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2003, 2264], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2264, 4077], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4107, 4321], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4351, 4743], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4743, 4961], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4962, 6966], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6966, 7200], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [64, 1380], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1380, 4321], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4351, 7200], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381230.json b/annotations/task-0038/episode_00381230.json new file mode 100644 index 0000000000000000000000000000000000000000..10d2a251b1f468dc343af6197747bfd5187edf1b --- /dev/null +++ b/annotations/task-0038/episode_00381230.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5670, + "valid_duration": [0, 5670] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 753], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [774, 1206], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1206, 1800], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1806, 2082], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2091, 3030], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3030, 3201], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3201, 4563], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4572, 4719], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4719, 5490], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5490, 5670], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1206], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1206, 3201], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3201, 5670], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381240.json b/annotations/task-0038/episode_00381240.json new file mode 100644 index 0000000000000000000000000000000000000000..5109914ea5b26cd5f469df28168ad697f199b5ea --- /dev/null +++ b/annotations/task-0038/episode_00381240.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 4710, + "valid_duration": [30, 4740] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 542], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [619, 1085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1088, 1716], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1745, 1933], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1946, 3030], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3030, 3191], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3192, 3486], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3486, 3670], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3670, 4541], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4541, 4740], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1085], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1088, 3191], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3192, 4740], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381250.json b/annotations/task-0038/episode_00381250.json new file mode 100644 index 0000000000000000000000000000000000000000..3ad4bf7f59467c35ebdf37b6f348ae66c5326e5f --- /dev/null +++ b/annotations/task-0038/episode_00381250.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6493, + "valid_duration": [0, 6493] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1745], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1749, 2183], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2184, 2475], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2476, 2718], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2788, 3742], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3747, 3905], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3905, 4980], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4987, 5192], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5192, 6290], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6290, 6493], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2183], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2184, 3905], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3905, 6493], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381260.json b/annotations/task-0038/episode_00381260.json new file mode 100644 index 0000000000000000000000000000000000000000..812112fa7ab991acf1b0dd774135a1ad84b37c73 --- /dev/null +++ b/annotations/task-0038/episode_00381260.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6420, + "valid_duration": [0, 6420] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 76], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [77, 725], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [725, 1142], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1142, 1388], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1388, 2979], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2980, 3140], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3140, 3762], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3762, 3917], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3917, 6195], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6195, 6420], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 725], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [725, 3140], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3140, 6420], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381270.json b/annotations/task-0038/episode_00381270.json new file mode 100644 index 0000000000000000000000000000000000000000..5792857d3a387d3a366b5343ea2b8d5e745ce60c --- /dev/null +++ b/annotations/task-0038/episode_00381270.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 4945, + "valid_duration": [0, 4945] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 453], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [454, 968], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [969, 1161], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1173, 1318], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1318, 2619], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2619, 2832], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2837, 3540], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3540, 3719], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3719, 4749], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4749, 4945], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 968], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [969, 2832], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2837, 4945], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381280.json b/annotations/task-0038/episode_00381280.json new file mode 100644 index 0000000000000000000000000000000000000000..75a06a1076bf6583ad5de1c9bc06e4b5e7571f4f --- /dev/null +++ b/annotations/task-0038/episode_00381280.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 4685, + "valid_duration": [180, 4865] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [180, 470], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [470, 800], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [800, 927], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [928, 1237], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1256, 2476], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2478, 2773], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2773, 3256], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3281, 3574], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3574, 4601], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4601, 4865], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [180, 800], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [800, 2773], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2773, 4865], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381290.json b/annotations/task-0038/episode_00381290.json new file mode 100644 index 0000000000000000000000000000000000000000..62959bcc33b66a0f3dddf6a07f36770912393e37 --- /dev/null +++ b/annotations/task-0038/episode_00381290.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5429, + "valid_duration": [43, 5472] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [43, 313], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [318, 839], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [840, 1573], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1573, 1824], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1824, 2707], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2712, 2914], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2915, 4276], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4277, 4449], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4449, 5250], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5255, 5472], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [43, 839], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [840, 2914], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2915, 5472], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381300.json b/annotations/task-0038/episode_00381300.json new file mode 100644 index 0000000000000000000000000000000000000000..7d7dcbe816525be42d0cf5aee5aa94b570382686 --- /dev/null +++ b/annotations/task-0038/episode_00381300.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7305, + "valid_duration": [0, 7305] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2077], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2078, 2462], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2462, 3930], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3931, 4162], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4162, 5100], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5131, 5370], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5370, 5673], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5673, 5896], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5896, 7080], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7080, 7305], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2462], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2462, 5370], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5370, 7305], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381310.json b/annotations/task-0038/episode_00381310.json new file mode 100644 index 0000000000000000000000000000000000000000..02058c453a755e79ae771a42bf9ccbfd0880b78c --- /dev/null +++ b/annotations/task-0038/episode_00381310.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 8129, + "valid_duration": [49, 8178] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [49, 1152], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1152, 1687], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1687, 2412], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2413, 2650], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2650, 5201], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5201, 5418], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5419, 6501], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6512, 6675], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6675, 7929], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7935, 8178], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [49, 1687], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1687, 5418], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5419, 8178], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381320.json b/annotations/task-0038/episode_00381320.json new file mode 100644 index 0000000000000000000000000000000000000000..eef68dc125c7befef6875d2d0ea436e27d56aae5 --- /dev/null +++ b/annotations/task-0038/episode_00381320.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5016, + "valid_duration": [0, 5016] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 402], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [402, 896], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [896, 1224], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1226, 1468], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1468, 2505], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2506, 2685], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2686, 3578], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3579, 3772], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3773, 4757], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4758, 5016], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 896], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [896, 2685], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2686, 5016], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381330.json b/annotations/task-0038/episode_00381330.json new file mode 100644 index 0000000000000000000000000000000000000000..dd83bb3897bba7ba160081950426c63176bbec9c --- /dev/null +++ b/annotations/task-0038/episode_00381330.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 4488, + "valid_duration": [21, 4509] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [21, 471], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [471, 827], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [875, 1320], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1325, 1579], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1600, 2666], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2697, 2844], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2849, 3180], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3180, 3368], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3381, 4299], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4319, 4509], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [21, 827], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [875, 2844], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2849, 4509], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381350.json b/annotations/task-0038/episode_00381350.json new file mode 100644 index 0000000000000000000000000000000000000000..70c163451a1f55cad54eeacbef6402196845b57a --- /dev/null +++ b/annotations/task-0038/episode_00381350.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6023, + "valid_duration": [1, 6024] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1, 932], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [932, 1426], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1427, 2016], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2040, 2261], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2261, 3424], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3439, 3633], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3634, 4383], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4404, 4579], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4580, 5835], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5866, 6024], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1, 1426], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1427, 3633], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3634, 6024], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381360.json b/annotations/task-0038/episode_00381360.json new file mode 100644 index 0000000000000000000000000000000000000000..f9932615a45364c37afe15f196a7201a4debb080 --- /dev/null +++ b/annotations/task-0038/episode_00381360.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6226, + "valid_duration": [0, 6226] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 593], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [594, 1248], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1248, 2153], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2153, 2358], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2364, 3330], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3330, 3571], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3571, 4974], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4974, 5219], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5220, 5992], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5993, 6226], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1248], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1248, 3571], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3571, 6226], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381370.json b/annotations/task-0038/episode_00381370.json new file mode 100644 index 0000000000000000000000000000000000000000..21ed9c99fa0dcae1b9dfdc4c29cf691ef82c5ac1 --- /dev/null +++ b/annotations/task-0038/episode_00381370.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6330, + "valid_duration": [60, 6390] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1561], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1582, 2170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2183, 2894], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2907, 3219], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3219, 4473], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4473, 4654], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4680, 4867], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4880, 5119], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5120, 6213], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6227, 6390], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 2170], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2183, 4654], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4680, 6390], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381380.json b/annotations/task-0038/episode_00381380.json new file mode 100644 index 0000000000000000000000000000000000000000..9315a1e13e82e94e38ceab7fb6ccbbc1395af53c --- /dev/null +++ b/annotations/task-0038/episode_00381380.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6431, + "valid_duration": [0, 6431] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 400], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [400, 918], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [918, 1286], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1346, 1509], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1509, 2535], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2538, 2745], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2746, 4896], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4926, 5064], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5064, 6255], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6255, 6431], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 918], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [918, 2745], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2746, 6431], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381390.json b/annotations/task-0038/episode_00381390.json new file mode 100644 index 0000000000000000000000000000000000000000..08ff84114be85543398d5f64e78859dd20b8aa68 --- /dev/null +++ b/annotations/task-0038/episode_00381390.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5292, + "valid_duration": [0, 5292] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 990], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [990, 1436], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1436, 1920], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1920, 2071], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2071, 3242], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3243, 3420], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3420, 3960], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3961, 4111], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4111, 5070], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5070, 5292], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1436], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1436, 3420], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3420, 5292], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381400.json b/annotations/task-0038/episode_00381400.json new file mode 100644 index 0000000000000000000000000000000000000000..26cfd777f25dc6819fc4040c4a8806884a013f5a --- /dev/null +++ b/annotations/task-0038/episode_00381400.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6189, + "valid_duration": [90, 6279] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 786], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [805, 1325], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1325, 1795], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1796, 2023], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2024, 3093], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3106, 3307], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3307, 4617], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4617, 4806], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4807, 6090], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6098, 6279], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 1325], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1325, 3307], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3307, 6279], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381420.json b/annotations/task-0038/episode_00381420.json new file mode 100644 index 0000000000000000000000000000000000000000..0f06953f6cf02eaba41963a172ccc545d6ecfcfa --- /dev/null +++ b/annotations/task-0038/episode_00381420.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5871, + "valid_duration": [0, 5871] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 468], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [468, 870], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [870, 1410], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1410, 1626], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1627, 2668], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2668, 2880], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2889, 4410], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4411, 4620], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4621, 5580], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5580, 5871], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 870], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [870, 2880], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2889, 5871], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381430.json b/annotations/task-0038/episode_00381430.json new file mode 100644 index 0000000000000000000000000000000000000000..e6eca13a74b2b57d45353ee0c614fb429b4fef7f --- /dev/null +++ b/annotations/task-0038/episode_00381430.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5697, + "valid_duration": [30, 5727] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 570], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [597, 1043], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1043, 1200], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1200, 1484], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1485, 2638], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2656, 2818], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2839, 4383], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4384, 4559], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4594, 5517], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5547, 5727], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1043], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1043, 2818], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2839, 5727], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381450.json b/annotations/task-0038/episode_00381450.json new file mode 100644 index 0000000000000000000000000000000000000000..2217df7010e75dafe8587b19fe459a2972a750ab --- /dev/null +++ b/annotations/task-0038/episode_00381450.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5619, + "valid_duration": [0, 5619] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1207], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1207, 1761], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1764, 1902], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1902, 2091], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2091, 3186], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3186, 3424], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3425, 3930], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3930, 4112], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4112, 5378], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5379, 5619], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1761], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1764, 3424], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3425, 5619], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381460.json b/annotations/task-0038/episode_00381460.json new file mode 100644 index 0000000000000000000000000000000000000000..67e1856abdd5784beee795337327eff58be85727 --- /dev/null +++ b/annotations/task-0038/episode_00381460.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6090, + "valid_duration": [30, 6120] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 547], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [547, 1107], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1107, 1240], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1241, 1487], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1487, 2914], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2914, 3108], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3108, 4587], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4587, 4799], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4799, 5962], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5962, 6120], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1107], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1107, 3108], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3108, 6120], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381470.json b/annotations/task-0038/episode_00381470.json new file mode 100644 index 0000000000000000000000000000000000000000..b210cbf6ae78810b5b68bd1dacb373d640a84167 --- /dev/null +++ b/annotations/task-0038/episode_00381470.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 4521, + "valid_duration": [0, 4521] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 227], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [243, 746], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [746, 1288], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1317, 1525], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1555, 2542], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2548, 2730], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2753, 3089], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3119, 3308], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3308, 4290], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4303, 4521], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 746], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [746, 2730], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2753, 4521], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381480.json b/annotations/task-0038/episode_00381480.json new file mode 100644 index 0000000000000000000000000000000000000000..418180f04f927c36b0517c77f04c44f64a22cd4f --- /dev/null +++ b/annotations/task-0038/episode_00381480.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5542, + "valid_duration": [93, 5635] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [93, 672], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [672, 1263], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1314, 2470], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2479, 2667], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2731, 3970], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3970, 4174], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4180, 4482], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4482, 4620], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4650, 5429], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5433, 5635], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [93, 1263], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1314, 4174], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4180, 5635], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381490.json b/annotations/task-0038/episode_00381490.json new file mode 100644 index 0000000000000000000000000000000000000000..fd673405df575705a770b066d02abbe98d14e995 --- /dev/null +++ b/annotations/task-0038/episode_00381490.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6147, + "valid_duration": [36, 6183] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [36, 525], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [525, 1396], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1396, 2012], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2012, 2209], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2209, 3907], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3907, 4089], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4095, 4611], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4611, 4780], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4780, 6004], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6017, 6183], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [36, 1396], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1396, 4089], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4095, 6183], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381510.json b/annotations/task-0038/episode_00381510.json new file mode 100644 index 0000000000000000000000000000000000000000..ba6b3bac39422761441bdd2c37eaa361f4595ea3 --- /dev/null +++ b/annotations/task-0038/episode_00381510.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5830, + "valid_duration": [10, 5840] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10, 908], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [912, 1313], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1359, 1543], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1596, 1758], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1793, 2726], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2733, 2909], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2941, 4282], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4318, 4473], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4501, 5616], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5642, 5840], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10, 1313], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1359, 2909], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2941, 5840], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381520.json b/annotations/task-0038/episode_00381520.json new file mode 100644 index 0000000000000000000000000000000000000000..da876d6ccc169fc2a7432c3e47719177deb7d4a9 --- /dev/null +++ b/annotations/task-0038/episode_00381520.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6720, + "valid_duration": [0, 6720] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 356], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [357, 1037], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1037, 2176], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2176, 2416], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2416, 4185], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4185, 4380], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4470, 4620], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4620, 4831], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4832, 6480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6481, 6720], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1037], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1037, 4380], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4470, 6720], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381530.json b/annotations/task-0038/episode_00381530.json new file mode 100644 index 0000000000000000000000000000000000000000..d93971e1ef0177be921ac8581f31713269291d76 --- /dev/null +++ b/annotations/task-0038/episode_00381530.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6099, + "valid_duration": [0, 6099] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1350], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1377, 1779], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1779, 1965], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1965, 2205], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2205, 3174], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3174, 3399], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3399, 4656], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4656, 4842], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4842, 5889], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5889, 6099], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1779], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1779, 3399], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3399, 6099], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381540.json b/annotations/task-0038/episode_00381540.json new file mode 100644 index 0000000000000000000000000000000000000000..26eef57b14df0c92b91b1bc54c31e454b52b324b --- /dev/null +++ b/annotations/task-0038/episode_00381540.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5700, + "valid_duration": [60, 5760] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1140], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1140, 1589], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1589, 2089], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2089, 2343], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2343, 3180], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3210, 3434], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3435, 4233], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4233, 4423], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4423, 5532], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5532, 5760], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1589], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1589, 3434], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3435, 5760], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381550.json b/annotations/task-0038/episode_00381550.json new file mode 100644 index 0000000000000000000000000000000000000000..237f203bf5ed283b4257cc767c03e31604df4eea --- /dev/null +++ b/annotations/task-0038/episode_00381550.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7554, + "valid_duration": [0, 7554] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 874], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [874, 1694], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1694, 2530], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2530, 2703], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2703, 3823], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3827, 3978], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3978, 5814], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5814, 5982], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5982, 7366], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7366, 7554], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1694], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1694, 3978], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3978, 7554], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381560.json b/annotations/task-0038/episode_00381560.json new file mode 100644 index 0000000000000000000000000000000000000000..9b7f17c043df48906f8d2f87eb8dab0202ab921d --- /dev/null +++ b/annotations/task-0038/episode_00381560.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6029, + "valid_duration": [31, 6060] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [31, 933], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [934, 1382], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1383, 1953], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1954, 2155], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2155, 3552], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3553, 3696], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3697, 3902], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3903, 4065], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4065, 5878], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5878, 6060], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [31, 1382], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1383, 3696], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3697, 6060], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381580.json b/annotations/task-0038/episode_00381580.json new file mode 100644 index 0000000000000000000000000000000000000000..94d949746d8c1f97954ad76894294cf344319805 --- /dev/null +++ b/annotations/task-0038/episode_00381580.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5716, + "valid_duration": [40, 5756] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 1168], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1290, 1871], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1872, 2220], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2221, 2394], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2423, 3525], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3537, 3750], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3784, 4278], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4294, 4431], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4476, 5557], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5595, 5756], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 1871], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1872, 3750], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3784, 5756], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381600.json b/annotations/task-0038/episode_00381600.json new file mode 100644 index 0000000000000000000000000000000000000000..250903abf45a0aaafdefa1dd83adbcc7bfbde9df --- /dev/null +++ b/annotations/task-0038/episode_00381600.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5228, + "valid_duration": [0, 5228] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 721], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [735, 1140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1140, 1590], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1591, 1771], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1771, 2850], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2850, 3030], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3030, 3840], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3841, 3991], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3991, 5070], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5070, 5228], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1140], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1140, 3030], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3030, 5228], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381660.json b/annotations/task-0038/episode_00381660.json new file mode 100644 index 0000000000000000000000000000000000000000..cd7daf0067a1a5c6ac809eab517873d835681b51 --- /dev/null +++ b/annotations/task-0038/episode_00381660.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6400, + "valid_duration": [0, 6400] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1003], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1003, 1476], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1476, 1691], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1691, 1953], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1953, 3064], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3064, 3219], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3220, 4620], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4641, 4858], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4859, 6237], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6237, 6400], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1476], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1476, 3219], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3220, 6400], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381670.json b/annotations/task-0038/episode_00381670.json new file mode 100644 index 0000000000000000000000000000000000000000..26029b2539b39828012db2125ef8a8bf545beabe --- /dev/null +++ b/annotations/task-0038/episode_00381670.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5700, + "valid_duration": [0, 5700] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 192], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [193, 750], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [750, 1140], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1140, 1380], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1380, 2910], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2910, 3120], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3120, 3824], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3825, 3990], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3990, 5550], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5550, 5700], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 750], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [750, 3120], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3120, 5700], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381680.json b/annotations/task-0038/episode_00381680.json new file mode 100644 index 0000000000000000000000000000000000000000..b072a7c77aafabc4cbb684c2d6157832fd94507c --- /dev/null +++ b/annotations/task-0038/episode_00381680.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6026, + "valid_duration": [30, 6056] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 851], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [851, 1321], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1322, 2097], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2097, 2287], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2287, 3237], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3237, 3411], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3411, 4620], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4620, 4832], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4833, 5897], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5897, 6056], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1321], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1322, 3411], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3411, 6056], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381700.json b/annotations/task-0038/episode_00381700.json new file mode 100644 index 0000000000000000000000000000000000000000..a00d7a5af5a4c9c90b0dd400d47de139a040147d --- /dev/null +++ b/annotations/task-0038/episode_00381700.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6491, + "valid_duration": [46, 6537] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [46, 1627], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1688, 2056], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2057, 3135], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3157, 3350], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3350, 4470], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4470, 4666], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4667, 4800], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4800, 5017], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5018, 6236], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6240, 6537], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [46, 2056], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2057, 4666], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4667, 6537], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381720.json b/annotations/task-0038/episode_00381720.json new file mode 100644 index 0000000000000000000000000000000000000000..f6bf9cb66422ebce7e24a2f509bc2588c331417e --- /dev/null +++ b/annotations/task-0038/episode_00381720.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6540, + "valid_duration": [270, 6810] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [270, 1657], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1657, 2100], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2100, 2381], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2381, 2595], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2595, 4047], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4047, 4334], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4335, 4998], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4998, 5166], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5166, 6599], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6642, 6810], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [270, 2100], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2100, 4334], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4335, 6810], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381730.json b/annotations/task-0038/episode_00381730.json new file mode 100644 index 0000000000000000000000000000000000000000..033070cb97450699f8e26cb9c44c00ec30620ca7 --- /dev/null +++ b/annotations/task-0038/episode_00381730.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7337, + "valid_duration": [25, 7362] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [25, 1125], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1130, 1617], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1620, 2928], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2928, 3138], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3138, 5354], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5354, 5538], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5541, 6116], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6116, 6315], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6315, 7108], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7134, 7362], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [25, 1617], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1620, 5538], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5541, 7362], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381740.json b/annotations/task-0038/episode_00381740.json new file mode 100644 index 0000000000000000000000000000000000000000..35cce79d96064c93dd2b80b113ceca84eafe4c2c --- /dev/null +++ b/annotations/task-0038/episode_00381740.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5761, + "valid_duration": [72, 5833] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [72, 1730], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1740, 2214], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2239, 2620], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2621, 2873], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2904, 3877], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3877, 4108], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4109, 4773], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4773, 4932], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4963, 5653], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5670, 5833], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [72, 2214], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2239, 4108], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4109, 5833], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381760.json b/annotations/task-0038/episode_00381760.json new file mode 100644 index 0000000000000000000000000000000000000000..e190b1facc4542296533cf6193c05d4a5cd1f298 --- /dev/null +++ b/annotations/task-0038/episode_00381760.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5544, + "valid_duration": [26, 5570] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [26, 1189], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1209, 1659], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1701, 2714], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2728, 2881], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2881, 3928], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3928, 4100], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4101, 4346], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4346, 4503], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4504, 5379], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5379, 5570], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [26, 1659], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1701, 4100], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4101, 5570], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381770.json b/annotations/task-0038/episode_00381770.json new file mode 100644 index 0000000000000000000000000000000000000000..1ceb856f44671d3f5adf23b76ee8e3063664a319 --- /dev/null +++ b/annotations/task-0038/episode_00381770.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6510, + "valid_duration": [81, 6591] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [81, 761], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [762, 1272], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1272, 2115], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2115, 2358], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2358, 3563], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3563, 3754], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3754, 4468], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4468, 4627], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4627, 6412], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6413, 6591], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [81, 1272], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1272, 3754], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3754, 6591], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381780.json b/annotations/task-0038/episode_00381780.json new file mode 100644 index 0000000000000000000000000000000000000000..68744859a63e21e6b35ec37d2cc1d13c3a7d6376 --- /dev/null +++ b/annotations/task-0038/episode_00381780.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5700, + "valid_duration": [0, 5700] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 401], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [401, 889], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [890, 1187], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1187, 1461], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1461, 2545], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2545, 2784], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2784, 3943], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3943, 4206], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4206, 5496], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5497, 5700], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 889], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [890, 2784], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2784, 5700], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381800.json b/annotations/task-0038/episode_00381800.json new file mode 100644 index 0000000000000000000000000000000000000000..e1d66f563bfecb5b01b6666fc5e68bd69d99c9e8 --- /dev/null +++ b/annotations/task-0038/episode_00381800.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5286, + "valid_duration": [0, 5286] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 351], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [351, 782], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [783, 1213], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1227, 1378], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1379, 2412], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2412, 2628], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2631, 3816], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3816, 3961], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3962, 5149], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5150, 5286], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 782], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [783, 2628], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2631, 5286], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381810.json b/annotations/task-0038/episode_00381810.json new file mode 100644 index 0000000000000000000000000000000000000000..e7f52a2c52af3cf1e6003555ba16300678b72719 --- /dev/null +++ b/annotations/task-0038/episode_00381810.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6786, + "valid_duration": [207, 6993] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [207, 1230], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1239, 1907], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1907, 2270], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2271, 2507], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2507, 3649], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3649, 3869], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3869, 5010], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5011, 5175], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5175, 6740], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6740, 6993], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [207, 1907], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1907, 3869], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3869, 6993], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381820.json b/annotations/task-0038/episode_00381820.json new file mode 100644 index 0000000000000000000000000000000000000000..13bee9d0bd0bb31f899329c745bac2d01745923f --- /dev/null +++ b/annotations/task-0038/episode_00381820.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5428, + "valid_duration": [48, 5476] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [48, 987], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [987, 1506], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1506, 2358], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2358, 2587], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2587, 3426], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3427, 3696], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3696, 3821], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3821, 3989], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3990, 5130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5130, 5476], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [48, 1506], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1506, 3696], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3696, 5476], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381830.json b/annotations/task-0038/episode_00381830.json new file mode 100644 index 0000000000000000000000000000000000000000..7d26a06d586565453dc80b5567aafa4b2fa8bcc4 --- /dev/null +++ b/annotations/task-0038/episode_00381830.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5430, + "valid_duration": [60, 5490] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1082], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1082, 1730], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1730, 1890], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1890, 2130], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2130, 3582], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3582, 3747], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3747, 3930], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3930, 4050], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4051, 5331], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5332, 5490], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1730], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1730, 3747], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3747, 5490], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381850.json b/annotations/task-0038/episode_00381850.json new file mode 100644 index 0000000000000000000000000000000000000000..cde10067fbf4ac42b61f160a55be7b2df96c1b58 --- /dev/null +++ b/annotations/task-0038/episode_00381850.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 4989, + "valid_duration": [0, 4989] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 765], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [765, 1323], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1323, 1928], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1948, 2113], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2113, 3183], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3187, 3317], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3317, 3868], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3868, 4012], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4012, 4812], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4812, 4989], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1323], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1323, 3317], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3317, 4989], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381860.json b/annotations/task-0038/episode_00381860.json new file mode 100644 index 0000000000000000000000000000000000000000..2d1b1b60b4d6f47837401e25cd18176dd6800c29 --- /dev/null +++ b/annotations/task-0038/episode_00381860.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7960, + "valid_duration": [58, 8018] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [58, 1387], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1387, 1856], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1857, 2460], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2460, 2724], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2734, 4503], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4508, 4683], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4683, 6209], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6210, 6423], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6423, 7843], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7843, 8018], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [58, 1856], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1857, 4683], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4683, 8018], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381870.json b/annotations/task-0038/episode_00381870.json new file mode 100644 index 0000000000000000000000000000000000000000..f23f4dd7ceb1cd10352c1269bd6fe2deffbdcd0b --- /dev/null +++ b/annotations/task-0038/episode_00381870.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6000, + "valid_duration": [0, 6000] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1235], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1251, 1632], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1632, 1920], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1920, 2103], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2103, 3375], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3375, 3510], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3510, 4410], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4418, 4574], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4575, 5846], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5847, 6000], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1632], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1632, 3510], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3510, 6000], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381880.json b/annotations/task-0038/episode_00381880.json new file mode 100644 index 0000000000000000000000000000000000000000..cbba897fbbafd53a5d5a44e0ffb93c7840193b19 --- /dev/null +++ b/annotations/task-0038/episode_00381880.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6483, + "valid_duration": [0, 6483] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1386], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1397, 1859], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1905, 2143], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2167, 2452], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2482, 3920], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3950, 4117], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4142, 4574], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4574, 4743], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4773, 6307], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6318, 6483], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1859], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1905, 4117], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4142, 6483], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381890.json b/annotations/task-0038/episode_00381890.json new file mode 100644 index 0000000000000000000000000000000000000000..289d6c07959aae55bce369b1d4095ba3f005205d --- /dev/null +++ b/annotations/task-0038/episode_00381890.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5121, + "valid_duration": [39, 5160] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 840], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [852, 1245], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1245, 1773], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1785, 1970], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1986, 3496], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3496, 3666], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3666, 3775], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3775, 3945], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3945, 5013], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5014, 5160], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 1245], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1245, 3666], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3666, 5160], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381910.json b/annotations/task-0038/episode_00381910.json new file mode 100644 index 0000000000000000000000000000000000000000..44050ff274f1ab8797f65d3ad80faa201c9ac07a --- /dev/null +++ b/annotations/task-0038/episode_00381910.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 4104, + "valid_duration": [0, 4104] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 397], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [397, 786], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [786, 909], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [909, 1094], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1094, 2355], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2355, 2574], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2574, 2945], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2945, 3160], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3250, 3956], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3956, 4104], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 786], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [786, 2574], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2574, 4104], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381920.json b/annotations/task-0038/episode_00381920.json new file mode 100644 index 0000000000000000000000000000000000000000..5792e3516529ca1b9f3ca7da3a75fb64aad3f00d --- /dev/null +++ b/annotations/task-0038/episode_00381920.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6360, + "valid_duration": [0, 6360] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 188], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [189, 868], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [870, 1570], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1571, 1756], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1760, 2999], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3000, 3234], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3238, 4533], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4542, 4720], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4724, 6150], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6152, 6360], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 868], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [870, 3234], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3238, 6360], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381930.json b/annotations/task-0038/episode_00381930.json new file mode 100644 index 0000000000000000000000000000000000000000..16337ec4a6bc0b60af6606307fcbca6557389e9b --- /dev/null +++ b/annotations/task-0038/episode_00381930.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6306, + "valid_duration": [0, 6306] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1166], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1166, 1689], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1709, 2560], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2560, 2773], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2773, 3763], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3763, 3946], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3946, 4562], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4577, 4819], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4919, 6101], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6118, 6306], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1689], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1709, 3946], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3946, 6306], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381950.json b/annotations/task-0038/episode_00381950.json new file mode 100644 index 0000000000000000000000000000000000000000..3853e04dc4118853d18fb3773610d62024f8d439 --- /dev/null +++ b/annotations/task-0038/episode_00381950.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5737, + "valid_duration": [0, 5737] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1178], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1178, 1622], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1622, 2318], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2318, 2639], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2639, 3719], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3719, 3915], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3915, 4013], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4013, 4244], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4244, 5485], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5485, 5737], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1622], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1622, 3915], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3915, 5737], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381960.json b/annotations/task-0038/episode_00381960.json new file mode 100644 index 0000000000000000000000000000000000000000..9f0dc39d1b556fdb98a0d48f8f06772b94ef11cc --- /dev/null +++ b/annotations/task-0038/episode_00381960.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6989, + "valid_duration": [0, 6989] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1139], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1139, 1590], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1590, 2310], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2311, 2581], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2581, 3990], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3990, 4236], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4236, 4956], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4956, 5172], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5172, 6761], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6761, 6989], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1590], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1590, 4236], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4236, 6989], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381970.json b/annotations/task-0038/episode_00381970.json new file mode 100644 index 0000000000000000000000000000000000000000..addc7d600b6a2464df8c3cd466dae05ca3107f61 --- /dev/null +++ b/annotations/task-0038/episode_00381970.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6750, + "valid_duration": [0, 6750] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1386], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1386, 1862], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1862, 2455], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2456, 2650], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2651, 4311], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4311, 4472], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4473, 5187], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5187, 5344], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5344, 6529], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6529, 6750], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1862], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1862, 4472], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4473, 6750], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381980.json b/annotations/task-0038/episode_00381980.json new file mode 100644 index 0000000000000000000000000000000000000000..a2809859985a453fb5632a2c87d45db56dbe82a2 --- /dev/null +++ b/annotations/task-0038/episode_00381980.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 4595, + "valid_duration": [0, 4595] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 386], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [386, 813], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [813, 1261], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1261, 1519], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1519, 2564], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2564, 2775], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2775, 3236], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3236, 3367], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3367, 4364], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4364, 4595], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 813], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [813, 2775], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2775, 4595], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00381990.json b/annotations/task-0038/episode_00381990.json new file mode 100644 index 0000000000000000000000000000000000000000..fae3de0171d8dd1ce8d699bebf762cbb8bba94b7 --- /dev/null +++ b/annotations/task-0038/episode_00381990.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6600, + "valid_duration": [30, 6630] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1020], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1023, 1443], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1443, 2491], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2491, 2742], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2743, 4064], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4065, 4267], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4267, 4721], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4722, 4898], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4898, 6223], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6223, 6630], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1443], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1443, 4267], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4267, 6630], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382000.json b/annotations/task-0038/episode_00382000.json new file mode 100644 index 0000000000000000000000000000000000000000..4506e0f4328d42a65368a4ece6db3b64e67bd37b --- /dev/null +++ b/annotations/task-0038/episode_00382000.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6483, + "valid_duration": [0, 6483] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1344], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1344, 1771], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1772, 2142], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2142, 2367], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2367, 3586], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3586, 3813], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3814, 5159], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5159, 5330], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5331, 6294], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6295, 6483], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1771], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1772, 3813], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3814, 6483], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382020.json b/annotations/task-0038/episode_00382020.json new file mode 100644 index 0000000000000000000000000000000000000000..41ebb4b0e592236a9a73090d359bfc4562030811 --- /dev/null +++ b/annotations/task-0038/episode_00382020.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5460, + "valid_duration": [0, 5460] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1028], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1029, 1686], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1686, 1814], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1815, 2025], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2027, 3029], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3030, 3202], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3202, 3921], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3921, 4080], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4080, 5243], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5274, 5460], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1686], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1686, 3202], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3202, 5460], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382030.json b/annotations/task-0038/episode_00382030.json new file mode 100644 index 0000000000000000000000000000000000000000..839e3ac282ca467960f5c7a0741107920cd7028f --- /dev/null +++ b/annotations/task-0038/episode_00382030.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6675, + "valid_duration": [0, 6675] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1600], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1600, 2041], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2041, 2756], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2756, 2946], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2946, 4410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4411, 4589], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4589, 5363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5363, 5557], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5557, 6497], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6497, 6675], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2041], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2041, 4589], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4589, 6675], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382040.json b/annotations/task-0038/episode_00382040.json new file mode 100644 index 0000000000000000000000000000000000000000..4af3c5e9379cb9d5629ad74f1badd70930d298e7 --- /dev/null +++ b/annotations/task-0038/episode_00382040.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5640, + "valid_duration": [60, 5700] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 975], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [975, 1509], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1509, 1740], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1740, 1819], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1819, 3003], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3003, 3189], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3189, 3819], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3819, 3960], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3960, 5520], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5520, 5700], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1509], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1509, 3189], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3189, 5700], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382060.json b/annotations/task-0038/episode_00382060.json new file mode 100644 index 0000000000000000000000000000000000000000..480695977979427f61915b80ca0385c246b1c7cc --- /dev/null +++ b/annotations/task-0038/episode_00382060.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5235, + "valid_duration": [45, 5280] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 803], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [803, 1200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1200, 1596], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1596, 1855], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1863, 3183], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3183, 3393], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3393, 3652], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3663, 3870], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3870, 5049], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5049, 5280], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 1200], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1200, 3393], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3393, 5280], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382070.json b/annotations/task-0038/episode_00382070.json new file mode 100644 index 0000000000000000000000000000000000000000..154d69d397668feee36a304c686a871bfc41ec3c --- /dev/null +++ b/annotations/task-0038/episode_00382070.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7368, + "valid_duration": [0, 7368] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1020], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1029, 1532], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1532, 2506], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2508, 2735], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2735, 4290], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4290, 4482], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4482, 5993], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5996, 6150], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6153, 7173], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7173, 7368], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1532], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1532, 4482], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4482, 7368], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382090.json b/annotations/task-0038/episode_00382090.json new file mode 100644 index 0000000000000000000000000000000000000000..753bf8287a52cdfaa9ebb5f4912fe96279f98d69 --- /dev/null +++ b/annotations/task-0038/episode_00382090.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5438, + "valid_duration": [0, 5438] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 573], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [574, 930], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [930, 1743], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1745, 1923], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1923, 3264], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3264, 3448], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3448, 3913], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3915, 4077], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4077, 5171], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5171, 5438], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 930], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [930, 3448], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3448, 5438], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382100.json b/annotations/task-0038/episode_00382100.json new file mode 100644 index 0000000000000000000000000000000000000000..4c1ed02d39ad2714cb6a22e906d79eac8de80618 --- /dev/null +++ b/annotations/task-0038/episode_00382100.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5986, + "valid_duration": [0, 5986] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 478], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [478, 976], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [976, 1800], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1800, 2115], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2115, 3747], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3747, 4031], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4031, 4184], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4185, 4449], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4449, 5811], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5811, 5986], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 976], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [976, 4031], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4031, 5986], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382110.json b/annotations/task-0038/episode_00382110.json new file mode 100644 index 0000000000000000000000000000000000000000..65ee0be2939822b814a0f05a546050ef13357e50 --- /dev/null +++ b/annotations/task-0038/episode_00382110.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7217, + "valid_duration": [63, 7280] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [63, 1154], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1155, 1654], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1655, 1855], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1855, 2154], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2154, 3669], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3670, 3920], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3920, 5010], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5010, 5286], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5286, 7025], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7044, 7280], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [63, 1654], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1655, 3920], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3920, 7280], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382120.json b/annotations/task-0038/episode_00382120.json new file mode 100644 index 0000000000000000000000000000000000000000..c419bf92db4e1f682983bfc5879cc9fde0c69101 --- /dev/null +++ b/annotations/task-0038/episode_00382120.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5544, + "valid_duration": [0, 5544] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1093], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1095, 1525], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1525, 1927], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1935, 2138], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2138, 3609], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3612, 3796], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3798, 3913], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3913, 4127], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4127, 5384], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5384, 5544], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1525], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1525, 3796], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3798, 5544], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382140.json b/annotations/task-0038/episode_00382140.json new file mode 100644 index 0000000000000000000000000000000000000000..403f8f76cea0756489397510f6ba7bbe85e6a2f2 --- /dev/null +++ b/annotations/task-0038/episode_00382140.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7346, + "valid_duration": [90, 7436] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 778], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [778, 1326], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1326, 1723], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1723, 1946], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1947, 3875], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3875, 4076], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4076, 5298], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5298, 5489], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5489, 7227], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7227, 7436], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [90, 1326], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1326, 4076], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4076, 7436], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382150.json b/annotations/task-0038/episode_00382150.json new file mode 100644 index 0000000000000000000000000000000000000000..5a38e782c2daba0efac4b83d0945d98c3a383603 --- /dev/null +++ b/annotations/task-0038/episode_00382150.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5678, + "valid_duration": [0, 5678] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 566], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [566, 1269], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1269, 1296], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1296, 1548], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1548, 2691], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2691, 2884], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2884, 3950], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3950, 4259], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4260, 5493], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5493, 5678], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1269], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1269, 2884], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2884, 5678], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382180.json b/annotations/task-0038/episode_00382180.json new file mode 100644 index 0000000000000000000000000000000000000000..c8b81e2815106595a935efb1cc8b9d241433d6f7 --- /dev/null +++ b/annotations/task-0038/episode_00382180.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6480, + "valid_duration": [0, 6480] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1165], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1166, 1572], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1572, 1770], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1770, 2036], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2097, 3473], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3474, 3750], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3750, 4435], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4435, 4710], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4710, 6274], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6275, 6480], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1572], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1572, 3750], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3750, 6480], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382190.json b/annotations/task-0038/episode_00382190.json new file mode 100644 index 0000000000000000000000000000000000000000..0ffc75b138bc13431f01e8e19b9b73d603cfc9b7 --- /dev/null +++ b/annotations/task-0038/episode_00382190.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 8070, + "valid_duration": [0, 8070] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1924], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1925, 2550], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2550, 4058], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4058, 4242], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4242, 5573], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5573, 5757], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5757, 6300], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6300, 6463], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6464, 7863], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7863, 8070], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2550], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2550, 5757], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5757, 8070], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382220.json b/annotations/task-0038/episode_00382220.json new file mode 100644 index 0000000000000000000000000000000000000000..de8ffc132d4be91d6fdd5203840ccaf0c0fbebcf --- /dev/null +++ b/annotations/task-0038/episode_00382220.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6480, + "valid_duration": [0, 6480] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1217], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1220, 1635], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1635, 2352], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2353, 2644], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2649, 3965], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3965, 4129], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4130, 4913], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4915, 5089], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5089, 6318], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6318, 6480], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1635], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1635, 4129], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4130, 6480], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382230.json b/annotations/task-0038/episode_00382230.json new file mode 100644 index 0000000000000000000000000000000000000000..4908f5c3fec5bd1d9db68620e1e77cfe2f397f54 --- /dev/null +++ b/annotations/task-0038/episode_00382230.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6921, + "valid_duration": [507, 7428] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [507, 1410], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1411, 1936], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1936, 2029], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2029, 2233], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2234, 3686], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3686, 3890], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3890, 5668], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5668, 5845], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5845, 7247], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7260, 7428], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [507, 1936], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1936, 3890], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3890, 7428], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382240.json b/annotations/task-0038/episode_00382240.json new file mode 100644 index 0000000000000000000000000000000000000000..64834e7de8364d8a0d6fc565fa6761ac5ecce2ce --- /dev/null +++ b/annotations/task-0038/episode_00382240.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6005, + "valid_duration": [0, 6005] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 872], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [873, 1502], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1502, 2340], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2341, 2546], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2546, 4290], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4290, 4462], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4462, 4818], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4818, 4975], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4975, 5792], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5792, 6005], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1502], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1502, 4462], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4462, 6005], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382280.json b/annotations/task-0038/episode_00382280.json new file mode 100644 index 0000000000000000000000000000000000000000..1511e47f74a5a31fbaff25863a4a6e9e404f08b5 --- /dev/null +++ b/annotations/task-0038/episode_00382280.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6768, + "valid_duration": [326, 7094] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [326, 2101], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2101, 2517], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2517, 3409], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3409, 3641], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3641, 4803], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4803, 5035], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5035, 5830], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5832, 5991], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5991, 6849], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6849, 7094], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [326, 2517], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2517, 5035], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5035, 7094], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382290.json b/annotations/task-0038/episode_00382290.json new file mode 100644 index 0000000000000000000000000000000000000000..7070e176c7c032d1d88d77a64fadde146b8f66fa --- /dev/null +++ b/annotations/task-0038/episode_00382290.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6066, + "valid_duration": [0, 6066] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1408], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1408, 1833], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1833, 2393], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2393, 2590], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2590, 3938], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3939, 4170], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4170, 4599], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4599, 4783], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4783, 5812], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5812, 6066], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1833], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1833, 4170], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4170, 6066], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382300.json b/annotations/task-0038/episode_00382300.json new file mode 100644 index 0000000000000000000000000000000000000000..b9deb16da83668e25d6302b7c41f825f6a56b2e0 --- /dev/null +++ b/annotations/task-0038/episode_00382300.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5585, + "valid_duration": [0, 5585] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 648], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [649, 1104], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1104, 1251], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1252, 1438], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1438, 2850], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2853, 3055], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3055, 3734], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3734, 3886], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3886, 5392], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5392, 5585], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1104], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1104, 3055], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3055, 5585], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382310.json b/annotations/task-0038/episode_00382310.json new file mode 100644 index 0000000000000000000000000000000000000000..a4999c9c97e76d688d0ac94f0ee46e7e419a3537 --- /dev/null +++ b/annotations/task-0038/episode_00382310.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6939, + "valid_duration": [0, 6939] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1062], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1062, 1670], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1670, 2329], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2335, 2583], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2583, 4053], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4053, 4240], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4240, 5460], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5460, 5670], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5670, 6670], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6670, 6939], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1670], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1670, 4240], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4240, 6939], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382320.json b/annotations/task-0038/episode_00382320.json new file mode 100644 index 0000000000000000000000000000000000000000..bc94e85143c8aa791255400f1757f351d686adab --- /dev/null +++ b/annotations/task-0038/episode_00382320.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6850, + "valid_duration": [0, 6850] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 970], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1018, 1446], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1446, 1620], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1626, 1953], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1953, 3528], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3528, 3700], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3700, 5299], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5319, 5520], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5525, 6624], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6639, 6850], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1446], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1446, 3700], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3700, 6850], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382330.json b/annotations/task-0038/episode_00382330.json new file mode 100644 index 0000000000000000000000000000000000000000..1dc0f81b860a8395254cd5b94b8e5a2cea4af9cd --- /dev/null +++ b/annotations/task-0038/episode_00382330.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5673, + "valid_duration": [0, 5673] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 143], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [143, 603], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [604, 963], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [963, 1242], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1281, 2697], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2697, 2929], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2929, 3540], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3540, 3753], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3753, 5434], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5465, 5673], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 603], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [604, 2929], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2929, 5673], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382340.json b/annotations/task-0038/episode_00382340.json new file mode 100644 index 0000000000000000000000000000000000000000..f7a1481c962a320c015fc00c7bf410ddc6ba6e9b --- /dev/null +++ b/annotations/task-0038/episode_00382340.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5217, + "valid_duration": [0, 5217] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 667], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [667, 1094], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1094, 1220], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1220, 1419], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1419, 2877], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2877, 3113], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3113, 3586], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3586, 3864], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3864, 4964], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4965, 5217], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1094], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1094, 3113], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3113, 5217], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382350.json b/annotations/task-0038/episode_00382350.json new file mode 100644 index 0000000000000000000000000000000000000000..5d7be563bab03d24dee220ec670f3cf83b4bfa25 --- /dev/null +++ b/annotations/task-0038/episode_00382350.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6567, + "valid_duration": [0, 6567] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 951], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [951, 1527], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1529, 2268], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2268, 2486], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2486, 3935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3942, 4173], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4173, 4953], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4953, 5148], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5148, 6349], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6349, 6567], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1527], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1529, 4173], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4173, 6567], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382360.json b/annotations/task-0038/episode_00382360.json new file mode 100644 index 0000000000000000000000000000000000000000..bc85274845bc3c8233c3f765b2958aad585d2d95 --- /dev/null +++ b/annotations/task-0038/episode_00382360.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6704, + "valid_duration": [0, 6704] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2030], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2033, 2542], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2542, 2730], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2730, 2924], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2924, 4012], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4014, 4235], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4235, 4881], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4882, 5160], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5160, 6521], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6523, 6704], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2542], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2542, 4235], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4235, 6704], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382370.json b/annotations/task-0038/episode_00382370.json new file mode 100644 index 0000000000000000000000000000000000000000..2c085b3d8b7c1d9007945f67b1b8a86a7a23dc64 --- /dev/null +++ b/annotations/task-0038/episode_00382370.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6456, + "valid_duration": [0, 6456] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1161], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1162, 1799], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1814, 2400], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2404, 2638], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2638, 4016], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4016, 4270], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4270, 4624], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4629, 4828], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4828, 6286], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6287, 6456], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1799], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1814, 4270], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4270, 6456], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382400.json b/annotations/task-0038/episode_00382400.json new file mode 100644 index 0000000000000000000000000000000000000000..d135c311253ddcdbe41a76dbbb3839c679b4f9c5 --- /dev/null +++ b/annotations/task-0038/episode_00382400.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5319, + "valid_duration": [0, 5319] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 81], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [81, 913], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [913, 1686], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1686, 1921], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1921, 3360], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3360, 3528], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3528, 3821], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3821, 3981], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3982, 5100], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5100, 5319], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 913], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [913, 3528], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3528, 5319], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382410.json b/annotations/task-0038/episode_00382410.json new file mode 100644 index 0000000000000000000000000000000000000000..643426ea06049c5fca16f9e3a572d11f3f0da2e2 --- /dev/null +++ b/annotations/task-0038/episode_00382410.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5775, + "valid_duration": [0, 5775] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 495], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [495, 1078], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1078, 2077], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2077, 2384], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2384, 3994], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3994, 4291], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4291, 4392], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4392, 4573], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4573, 5590], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5590, 5775], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1078], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1078, 4291], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4291, 5775], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382420.json b/annotations/task-0038/episode_00382420.json new file mode 100644 index 0000000000000000000000000000000000000000..0e574d9ec08fd84859a6135ea9fbf9f462af1577 --- /dev/null +++ b/annotations/task-0038/episode_00382420.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7032, + "valid_duration": [0, 7032] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 960], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [968, 1612], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1612, 2256], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2256, 2555], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2555, 3930], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3930, 4159], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4159, 5781], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5781, 5975], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5975, 6832], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6833, 7032], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1612], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1612, 4159], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4159, 7032], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382450.json b/annotations/task-0038/episode_00382450.json new file mode 100644 index 0000000000000000000000000000000000000000..60cbda5a024a36b90e5ebee1566c8ac5d2af6486 --- /dev/null +++ b/annotations/task-0038/episode_00382450.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7711, + "valid_duration": [40, 7751] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 1050], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1072, 1696], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1697, 1995], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1995, 2219], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2219, 4482], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4482, 4714], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4714, 5616], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5616, 5798], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5799, 7521], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7522, 7751], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [40, 1696], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1697, 4714], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4714, 7751], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382460.json b/annotations/task-0038/episode_00382460.json new file mode 100644 index 0000000000000000000000000000000000000000..bc1b5867ab92488d26f6dbf025ad1234be0beacf --- /dev/null +++ b/annotations/task-0038/episode_00382460.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5907, + "valid_duration": [0, 5907] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 734], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [734, 1464], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1464, 1843], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1843, 2021], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2021, 3258], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3258, 3417], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3417, 4617], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4617, 4769], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4769, 5727], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5727, 5907], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1464], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1464, 3417], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3417, 5907], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382500.json b/annotations/task-0038/episode_00382500.json new file mode 100644 index 0000000000000000000000000000000000000000..d084caf32921d6e2a7ad725ba12d6261a7a04311 --- /dev/null +++ b/annotations/task-0038/episode_00382500.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 7319, + "valid_duration": [60, 7379] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1329], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1329, 1748], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1749, 2349], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2349, 2538], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2653, 4506], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4596, 4764], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4785, 4929], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4945, 5103], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5125, 7169], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7169, 7379], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1748], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1749, 4764], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4785, 7379], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382510.json b/annotations/task-0038/episode_00382510.json new file mode 100644 index 0000000000000000000000000000000000000000..a01f9b806f1ac96934c05258924821570be6ad84 --- /dev/null +++ b/annotations/task-0038/episode_00382510.json @@ -0,0 +1,153 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5886, + "valid_duration": [0, 5886] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 833], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [833, 1582], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1582, 1763], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 3, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1763, 3149], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3149, 3327], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3327, 3860], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3860, 4031], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4031, 5617], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5617, 5886], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1582], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1582, 3327], + "skill_idxes": [2, 3, 4] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3327, 5886], + "skill_idxes": [5, 6, 7, 8] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382550.json b/annotations/task-0038/episode_00382550.json new file mode 100644 index 0000000000000000000000000000000000000000..e6281595e121f608863e8b5e8674031955834104 --- /dev/null +++ b/annotations/task-0038/episode_00382550.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5646, + "valid_duration": [60, 5706] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 604], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [604, 1024], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1024, 1235], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1235, 1541], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1541, 3004], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3004, 3207], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3207, 3454], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3454, 3616], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3616, 5463], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5463, 5706], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1024], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1024, 3207], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3207, 5706], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382570.json b/annotations/task-0038/episode_00382570.json new file mode 100644 index 0000000000000000000000000000000000000000..219b4b8552397d7d403eb3c48fd4852896d7f77e --- /dev/null +++ b/annotations/task-0038/episode_00382570.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5315, + "valid_duration": [30, 5345] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 450], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [450, 930], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [930, 1111], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1111, 1381], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1382, 2672], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2672, 2883], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2883, 3543], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3543, 3694], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3694, 5142], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5142, 5345], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 930], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [930, 2883], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [2883, 5345], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382590.json b/annotations/task-0038/episode_00382590.json new file mode 100644 index 0000000000000000000000000000000000000000..55e6d8b05b10236dacf434b5c0e0d17740006749 --- /dev/null +++ b/annotations/task-0038/episode_00382590.json @@ -0,0 +1,201 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6360, + "valid_duration": [0, 6360] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1113], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1113, 1635], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1635, 2304], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2304, 2460], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2460, 3720], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3720, 3939], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["garden_chair_lraplz_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3939, 4323], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["garden_chair_cottya_0", "robot"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["", "away"]], + "frame_duration": [4323, 4473], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["garden_chair_cottya_1", "robot"]], + "manipulating_object_id": ["garden_chair_cottya_1"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "away"]], + "frame_duration": [4473, 4890], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4890, 4944], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 10, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4944, 5067], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5067, 6213], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6213, 6360], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1635], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1635, 3939], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3939, 6360], + "skill_idxes": [6, 7, 8, 9, 10, 11, 12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382600.json b/annotations/task-0038/episode_00382600.json new file mode 100644 index 0000000000000000000000000000000000000000..2084dd7435ac1ef7860845c5de0ef838dea9e858 --- /dev/null +++ b/annotations/task-0038/episode_00382600.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6879, + "valid_duration": [0, 6879] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 561], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [561, 1019], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1019, 1834], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1851, 2071], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2075, 3639], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3664, 3843], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3855, 4409], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4413, 4560], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4560, 6705], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6717, 6879], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1019], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1019, 3843], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3855, 6879], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382610.json b/annotations/task-0038/episode_00382610.json new file mode 100644 index 0000000000000000000000000000000000000000..9dc0ff852d2ff7117960a46805f7f6c16a920a51 --- /dev/null +++ b/annotations/task-0038/episode_00382610.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6362, + "valid_duration": [0, 6362] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 525], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [538, 1158], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1158, 1725], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1738, 1927], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1930, 3934], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3935, 4065], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4065, 4396], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4400, 4658], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4662, 6185], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6189, 6362], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1158], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1158, 4065], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4065, 6362], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382620.json b/annotations/task-0038/episode_00382620.json new file mode 100644 index 0000000000000000000000000000000000000000..989d77867a47090f9fc37a58532b5e99bd6a90a1 --- /dev/null +++ b/annotations/task-0038/episode_00382620.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5710, + "valid_duration": [42, 5752] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 463], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [465, 966], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [975, 1470], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1503, 1735], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1738, 3208], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3209, 3376], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3409, 4301], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4319, 4500], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4520, 5538], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5542, 5752], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 966], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [975, 3376], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3409, 5752], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382630.json b/annotations/task-0038/episode_00382630.json new file mode 100644 index 0000000000000000000000000000000000000000..c1964ae5e36ed54877f80393f5639c7b9aab33ee --- /dev/null +++ b/annotations/task-0038/episode_00382630.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5992, + "valid_duration": [47, 6039] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [47, 573], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [573, 1157], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1157, 1416], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1416, 1659], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1660, 3537], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3538, 3786], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3787, 4203], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4203, 4398], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4398, 5853], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5854, 6039], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [47, 1157], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1157, 3786], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3787, 6039], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382640.json b/annotations/task-0038/episode_00382640.json new file mode 100644 index 0000000000000000000000000000000000000000..5fabc1ab16b1570f72445d37c597ce7389c84e85 --- /dev/null +++ b/annotations/task-0038/episode_00382640.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6731, + "valid_duration": [0, 6731] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1090], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1090, 2016], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2016, 2115], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2115, 2294], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2294, 3601], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3601, 3797], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3797, 5435], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5435, 5592], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5592, 6573], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6573, 6731], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2016], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2016, 3797], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3797, 6731], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382700.json b/annotations/task-0038/episode_00382700.json new file mode 100644 index 0000000000000000000000000000000000000000..6ec2d9952cc7b5d93f803504b3c328e55f491b72 --- /dev/null +++ b/annotations/task-0038/episode_00382700.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6198, + "valid_duration": [60, 6258] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 181], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [181, 661], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [661, 842], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [842, 1084], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1085, 2791], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2792, 3027], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3027, 3774], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3774, 3939], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3939, 6069], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6069, 6258], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 661], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [661, 3027], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3027, 6258], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382710.json b/annotations/task-0038/episode_00382710.json new file mode 100644 index 0000000000000000000000000000000000000000..e26daf0b4a246594bd2d212ddc7cc9840eceb307 --- /dev/null +++ b/annotations/task-0038/episode_00382710.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6086, + "valid_duration": [0, 6086] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 931], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [932, 1410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1410, 1470], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1471, 1740], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1740, 3152], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3152, 3330], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3330, 4463], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4464, 4590], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4590, 5923], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5923, 6086], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1410], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1410, 3330], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3330, 6086], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382750.json b/annotations/task-0038/episode_00382750.json new file mode 100644 index 0000000000000000000000000000000000000000..33e5f23c6bc4b526f9ff3ea2b3c09af5e927fa86 --- /dev/null +++ b/annotations/task-0038/episode_00382750.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5921, + "valid_duration": [31, 5952] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [31, 1046], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1157, 1824], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1824, 2172], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2172, 2450], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2512, 3779], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3780, 3951], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3956, 4737], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4743, 4845], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4853, 5709], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5709, 5952], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [31, 1824], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1824, 3951], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3956, 5952], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382770.json b/annotations/task-0038/episode_00382770.json new file mode 100644 index 0000000000000000000000000000000000000000..d691eed111412f65de29a6aa686f9e3e8140b172 --- /dev/null +++ b/annotations/task-0038/episode_00382770.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6273, + "valid_duration": [0, 6273] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1577], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1578, 2082], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2086, 2593], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2594, 2796], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2797, 4050], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4059, 4229], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4230, 4842], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4842, 4976], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4985, 6114], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6119, 6273], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2082], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2086, 4229], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4230, 6273], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382810.json b/annotations/task-0038/episode_00382810.json new file mode 100644 index 0000000000000000000000000000000000000000..73034d064bd6a0c850c4e67de400fa2566d8df45 --- /dev/null +++ b/annotations/task-0038/episode_00382810.json @@ -0,0 +1,201 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 4956, + "valid_duration": [0, 4956] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 636], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [636, 1059], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["garden_chair_lraplz_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1059, 1296], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["garden_chair_lraplz_0", "robot"]], + "manipulating_object_id": ["garden_chair_lraplz_0"], + "memory_prefix": [], + "spatial_prefix": [["", "away"]], + "frame_duration": [1296, 1473], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1473, 1686], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 5, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1686, 3015], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3015, 3150], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["garden_chair_cottya_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3150, 3426], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["garden_chair_cottya_0", "robot"]], + "manipulating_object_id": ["garden_chair_cottya_0"], + "memory_prefix": [], + "spatial_prefix": [["", "away"]], + "frame_duration": [3426, 3765], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3765, 3870], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3870, 3950], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 11, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3950, 4863], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4863, 4956], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1059], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1059, 3150], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3150, 4956], + "skill_idxes": [7, 8, 9, 10, 11, 12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382820.json b/annotations/task-0038/episode_00382820.json new file mode 100644 index 0000000000000000000000000000000000000000..03ccf52e80006550630dc8fe247ffcf3128600cd --- /dev/null +++ b/annotations/task-0038/episode_00382820.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5637, + "valid_duration": [44, 5681] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [44, 1310], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1311, 1861], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1866, 2256], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2256, 2454], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2454, 3636], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3639, 3804], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3804, 4138], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4138, 4261], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4271, 5434], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5434, 5681], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [44, 1861], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1866, 3804], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3804, 5681], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382910.json b/annotations/task-0038/episode_00382910.json new file mode 100644 index 0000000000000000000000000000000000000000..4b1da84be5d294d555912fa95e9dffe7596e994c --- /dev/null +++ b/annotations/task-0038/episode_00382910.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5882, + "valid_duration": [36, 5918] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [36, 1662], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1668, 2111], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2111, 2421], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2421, 2666], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2667, 3918], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3918, 4163], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4163, 4560], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4560, 4751], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4751, 5736], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5748, 5918], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [36, 2111], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2111, 4163], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4163, 5918], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382960.json b/annotations/task-0038/episode_00382960.json new file mode 100644 index 0000000000000000000000000000000000000000..8effba7145c8b1e96f1e5f26d31e07dd8219db0d --- /dev/null +++ b/annotations/task-0038/episode_00382960.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6036, + "valid_duration": [0, 6036] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1178], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1179, 1594], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1595, 2550], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2562, 2795], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2795, 4020], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4020, 4229], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4230, 4631], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4631, 4835], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4835, 5819], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5819, 6036], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1594], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1595, 4229], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4230, 6036], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382970.json b/annotations/task-0038/episode_00382970.json new file mode 100644 index 0000000000000000000000000000000000000000..c98bee575e0bca4268d4d1f0df5d6d1e22fb1da4 --- /dev/null +++ b/annotations/task-0038/episode_00382970.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5513, + "valid_duration": [30, 5543] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1481], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1481, 2047], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2064, 2363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": ["pot_plant_173"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2363, 2549], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2549, 3809], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3810, 4004], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4014, 4113], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4118, 4345], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4345, 5373], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5373, 5543], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2047], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2064, 4004], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4014, 5543], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00382980.json b/annotations/task-0038/episode_00382980.json new file mode 100644 index 0000000000000000000000000000000000000000..2f61146fafd5a9007b283a192b2a7a04e81de547 --- /dev/null +++ b/annotations/task-0038/episode_00382980.json @@ -0,0 +1,165 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 5436, + "valid_duration": [0, 5436] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 327], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [327, 877], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [877, 1803], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1803, 2046], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2046, 3238], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3238, 3395], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3395, 3649], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3649, 3781], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3781, 5292], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5292, 5436], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 877], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [877, 3395], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [3395, 5436], + "skill_idxes": [6, 7, 8, 9] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0038/episode_00383000.json b/annotations/task-0038/episode_00383000.json new file mode 100644 index 0000000000000000000000000000000000000000..43f11d90d7dae3763a89959f668ffae22148624f --- /dev/null +++ b/annotations/task-0038/episode_00383000.json @@ -0,0 +1,189 @@ +{ + "task_name": "spraying for bugs", + "data_folder": "", + "meta_data": { + "task_duration": 6296, + "valid_duration": [0, 6296] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1590], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1590, 2259], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_172"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2259, 2365], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 3, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2365, 2559], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 4, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2559, 3990], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3990, 4080], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["garden_chair_lraplz_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4080, 4593], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [90], + "skill_description": ["push to"], + "object_id": [["garden_chair_lraplz_0", "robot"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["", "away"]], + "frame_duration": [4593, 4805], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["pot_plant_173"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4805, 4892], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4892, 4992], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [95], + "skill_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4992, 6189], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [70], + "skill_description": ["turn off switch"], + "object_id": [["insectifuge_atomizer_174"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6189, 6296], + "mp_ef": [], + "skill_type": ["coordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["insectifuge_atomizer_174", "floors_ghetev_0"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2259], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_172"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2259, 4080], + "skill_idxes": [2, 3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [95], + "primitive_description": ["spray"], + "object_id": [["insectifuge_atomizer_174", "pot_plant_173"]], + "manipulating_object_id": ["insectifuge_atomizer_174"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [4080, 6296], + "skill_idxes": [6, 7, 8, 9, 10, 11] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450010.json b/annotations/task-0045/episode_00450010.json new file mode 100644 index 0000000000000000000000000000000000000000..1cf5aed03757807e22f2f0ece2ef58ca58514841 --- /dev/null +++ b/annotations/task-0045/episode_00450010.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 6645, + "valid_duration": [0, 6645] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [363, 1240], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1240, 1761], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1761, 2226], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2226, 3468], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3468, 4071], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4071, 4299], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4299, 5062], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5062, 5484], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5484, 5891], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5895, 6205], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6205, 6415], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6415, 6645], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1240], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [1240, 2226], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2226, 3468], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3468, 4299], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4299, 5484], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5484, 6205], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6205, 6415], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6415, 6645], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450020.json b/annotations/task-0045/episode_00450020.json new file mode 100644 index 0000000000000000000000000000000000000000..14365c8cfbfe164a9caa6760b9c71d7e676118a7 --- /dev/null +++ b/annotations/task-0045/episode_00450020.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8190, + "valid_duration": [0, 8190] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 612], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [612, 1600], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1600, 2281], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2281, 3205], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3205, 3933], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3933, 4437], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4437, 4725], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4725, 6021], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6021, 6572], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6572, 7095], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7095, 7656], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7656, 7907], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7907, 8190], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1600], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1600, 3205], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3205, 3933], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3933, 4725], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4725, 6572], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6572, 7656], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7656, 7907], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7907, 8190], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450030.json b/annotations/task-0045/episode_00450030.json new file mode 100644 index 0000000000000000000000000000000000000000..c3e03279a4bed292d5d5dfc39e0fec8a4b9a5955 --- /dev/null +++ b/annotations/task-0045/episode_00450030.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7935, + "valid_duration": [0, 7935] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 484], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [484, 1549], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1549, 2280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2280, 3030], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3030, 4277], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4277, 4897], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4897, 5142], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5142, 5971], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5971, 6482], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6482, 7005], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7006, 7443], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7443, 7651], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7652, 7935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1549], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [1549, 3030], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3030, 4277], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4277, 5142], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5142, 6482], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6482, 7443], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7443, 7651], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7652, 7935], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450040.json b/annotations/task-0045/episode_00450040.json new file mode 100644 index 0000000000000000000000000000000000000000..1b9a372eff81659f4b5205ae4ec7e50276ead03b --- /dev/null +++ b/annotations/task-0045/episode_00450040.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8538, + "valid_duration": [0, 8538] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 835], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [835, 1894], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1894, 2882], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2882, 3786], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3786, 5086], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5086, 5591], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5591, 5887], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5887, 6641], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6641, 7067], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7067, 7560], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7560, 7968], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7968, 8210], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8210, 8538], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1894], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "high_level"]]], + "frame_duration": [1894, 3786], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3786, 5086], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5086, 5887], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5887, 7067], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7067, 7968], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7968, 8210], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8210, 8538], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450050.json b/annotations/task-0045/episode_00450050.json new file mode 100644 index 0000000000000000000000000000000000000000..2c247700ea23b403199c560faf838ba651ae741b --- /dev/null +++ b/annotations/task-0045/episode_00450050.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7375, + "valid_duration": [0, 7375] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 896], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [896, 1776], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1779, 2220], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2220, 3309], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3309, 4430], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4430, 4918], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4918, 5104], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5104, 5739], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5739, 6185], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6185, 6577], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6577, 6910], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6910, 7121], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7121, 7375], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1776], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1779, 3309], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3309, 4430], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4430, 5104], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5104, 6185], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6185, 6910], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6910, 7121], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7121, 7375], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450060.json b/annotations/task-0045/episode_00450060.json new file mode 100644 index 0000000000000000000000000000000000000000..4ea44771d8d25fade87f4bf0a78e49f3b48321ee --- /dev/null +++ b/annotations/task-0045/episode_00450060.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8610, + "valid_duration": [0, 8610] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 905], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [905, 1828], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1828, 2729], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2729, 3632], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3632, 4967], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4967, 5588], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5588, 5858], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5858, 6848], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6848, 7340], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7340, 7808], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7808, 8150], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8150, 8399], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8399, 8610], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1828], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1828, 3632], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3632, 4967], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4967, 5858], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5858, 7340], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7340, 8150], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8150, 8399], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8399, 8610], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450070.json b/annotations/task-0045/episode_00450070.json new file mode 100644 index 0000000000000000000000000000000000000000..9d0d5530fdff88e466de5b81f539b3bad4c8448b --- /dev/null +++ b/annotations/task-0045/episode_00450070.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7260, + "valid_duration": [0, 7260] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 538], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [539, 1275], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1275, 1935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1935, 2917], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2917, 3898], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3898, 4500], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4500, 4687], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4688, 5400], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5400, 5889], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5889, 6398], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6399, 6720], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6720, 7014], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7014, 7260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1275], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1275, 2917], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2917, 3898], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3898, 4687], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4688, 5889], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5889, 6720], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6720, 7014], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7014, 7260], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450080.json b/annotations/task-0045/episode_00450080.json new file mode 100644 index 0000000000000000000000000000000000000000..aa703166aac8ed5286347e03538a638ae94625e1 --- /dev/null +++ b/annotations/task-0045/episode_00450080.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7267, + "valid_duration": [0, 7267] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 558], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [574, 1461], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1461, 2290], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2290, 3048], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3048, 4101], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4101, 4693], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4693, 4912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4913, 5626], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5627, 6020], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6020, 6477], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6477, 6759], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6759, 6983], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6984, 7267], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1461], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1461, 3048], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3048, 4101], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4101, 4912], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4913, 6020], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6020, 6759], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6759, 6983], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6984, 7267], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450090.json b/annotations/task-0045/episode_00450090.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad6b9f9adba3294d730c937dfb196d55d0c2b48 --- /dev/null +++ b/annotations/task-0045/episode_00450090.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8289, + "valid_duration": [0, 8289] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 439], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [439, 1466], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1466, 1997], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1997, 3236], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3242, 4446], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4446, 5035], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5035, 5302], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5302, 6400], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6400, 6884], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6884, 7326], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7326, 7763], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7763, 8003], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8003, 8289], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1466], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1466, 3236], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3242, 4446], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4446, 5302], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5302, 6884], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6884, 7763], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7763, 8003], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8003, 8289], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450100.json b/annotations/task-0045/episode_00450100.json new file mode 100644 index 0000000000000000000000000000000000000000..35f0dcf01a53d76ef85e417510495100169dca5a --- /dev/null +++ b/annotations/task-0045/episode_00450100.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7860, + "valid_duration": [0, 7860] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 555], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [555, 1434], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1434, 2145], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2145, 3252], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3252, 4536], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4536, 5166], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5166, 5436], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5436, 6315], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6315, 6897], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6897, 7059], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7059, 7383], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7383, 7611], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7611, 7860], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1434], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1434, 3252], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3252, 4536], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4536, 5436], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5436, 6897], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6897, 7383], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7383, 7611], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7611, 7860], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450110.json b/annotations/task-0045/episode_00450110.json new file mode 100644 index 0000000000000000000000000000000000000000..ab1658238eff5d81f364eac25b6b020160b66443 --- /dev/null +++ b/annotations/task-0045/episode_00450110.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8317, + "valid_duration": [0, 8317] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 848], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [848, 1866], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1866, 2442], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2442, 3517], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3517, 4585], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4585, 5242], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5242, 5607], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5607, 6628], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6628, 7123], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7123, 7553], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7553, 7924], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7924, 8156], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8156, 8317], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1866], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1866, 3517], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3517, 4585], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4585, 5607], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5607, 7123], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7123, 7924], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7924, 8156], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8156, 8317], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450120.json b/annotations/task-0045/episode_00450120.json new file mode 100644 index 0000000000000000000000000000000000000000..3d8e1cc61e440f073aec1d071414d843c299bcf3 --- /dev/null +++ b/annotations/task-0045/episode_00450120.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 6727, + "valid_duration": [0, 6727] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 379], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [379, 1180], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1180, 1803], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1804, 2377], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2377, 3624], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3624, 4202], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4202, 4464], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4464, 5214], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5214, 5654], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5654, 6077], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6077, 6372], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6372, 6503], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6503, 6727], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1180], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [1180, 2377], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2377, 3624], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3624, 4464], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4464, 5654], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5654, 6372], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6372, 6503], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6503, 6727], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450130.json b/annotations/task-0045/episode_00450130.json new file mode 100644 index 0000000000000000000000000000000000000000..d0344729ccc0e41574b5a6bac2951cf396b83910 --- /dev/null +++ b/annotations/task-0045/episode_00450130.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7946, + "valid_duration": [0, 7946] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 863], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [863, 1668], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1668, 2269], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2270, 3276], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3276, 4593], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4593, 5189], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5189, 5434], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5434, 6206], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6206, 6703], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6703, 7153], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7153, 7517], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7517, 7712], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7712, 7946], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1668], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1668, 3276], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3276, 4593], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4593, 5434], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5434, 6703], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6703, 7517], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7517, 7712], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7712, 7946], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450140.json b/annotations/task-0045/episode_00450140.json new file mode 100644 index 0000000000000000000000000000000000000000..ccad9e67fe77e8a91610a984307eb76d1d4fe3de --- /dev/null +++ b/annotations/task-0045/episode_00450140.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 6876, + "valid_duration": [0, 6876] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 544], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [550, 1374], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1374, 1820], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1821, 2387], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2387, 3606], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3607, 4130], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4135, 4346], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4348, 5130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5130, 5589], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5589, 5976], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5976, 6337], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6338, 6483], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6484, 6876], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1374], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [1374, 2387], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2387, 3606], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3607, 4346], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4348, 5589], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5589, 6337], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6338, 6483], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6484, 6876], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450150.json b/annotations/task-0045/episode_00450150.json new file mode 100644 index 0000000000000000000000000000000000000000..323df22484a1678ef42ba4ad162f9d25f40933ff --- /dev/null +++ b/annotations/task-0045/episode_00450150.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8198, + "valid_duration": [0, 8198] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 727], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [727, 1785], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1785, 2627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2627, 3461], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3461, 4787], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4787, 5338], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5338, 5600], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5600, 6506], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6506, 7015], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7015, 7381], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7381, 7749], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7749, 7948], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7948, 8198], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1785], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1785, 3461], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3461, 4787], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4787, 5600], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5600, 7015], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7015, 7749], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7749, 7948], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7948, 8198], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450160.json b/annotations/task-0045/episode_00450160.json new file mode 100644 index 0000000000000000000000000000000000000000..e4eeae313eded7110abc5851e442715493560ac3 --- /dev/null +++ b/annotations/task-0045/episode_00450160.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7440, + "valid_duration": [0, 7440] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 592], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [593, 1389], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1389, 2043], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2094, 3090], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3091, 4311], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4311, 4856], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4856, 5066], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5066, 5912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5913, 6353], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6383, 6785], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6815, 7128], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7128, 7266], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7284, 7440], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1389], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1389, 3090], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3091, 4311], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4311, 5066], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5066, 6353], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6383, 7128], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7128, 7266], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7284, 7440], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450170.json b/annotations/task-0045/episode_00450170.json new file mode 100644 index 0000000000000000000000000000000000000000..8957d5fd5625e4d074b5746f4a0e130bdd010b94 --- /dev/null +++ b/annotations/task-0045/episode_00450170.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7410, + "valid_duration": [0, 7410] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 634], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [635, 1416], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1416, 2478], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2479, 3205], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3205, 4410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4410, 4983], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4983, 5220], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5220, 5911], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5911, 6363], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6363, 6730], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6730, 7062], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7062, 7212], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7212, 7410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1416], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1416, 3205], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3205, 4410], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4410, 5220], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5220, 6363], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6363, 7062], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7062, 7212], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7212, 7410], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450180.json b/annotations/task-0045/episode_00450180.json new file mode 100644 index 0000000000000000000000000000000000000000..b58af255ab4de28887160d737525662842c53f5e --- /dev/null +++ b/annotations/task-0045/episode_00450180.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8280, + "valid_duration": [0, 8280] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 705], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [705, 1989], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1989, 2554], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2555, 3374], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3374, 4273], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4273, 4772], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4773, 4987], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4987, 6099], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6099, 6621], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6621, 7265], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7265, 7738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7738, 7968], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7968, 8280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1989], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [1989, 3374], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3374, 4273], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4273, 4987], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4987, 6621], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6621, 7738], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7738, 7968], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7968, 8280], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450190.json b/annotations/task-0045/episode_00450190.json new file mode 100644 index 0000000000000000000000000000000000000000..56fe2e3949360639cdb3144e87fb990a2111f918 --- /dev/null +++ b/annotations/task-0045/episode_00450190.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7696, + "valid_duration": [0, 7696] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 570], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [570, 1563], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1563, 2064], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2064, 2822], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2822, 3523], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3523, 4133], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4133, 4394], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4395, 5324], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5324, 5929], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5929, 6475], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6475, 7007], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7008, 7394], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7394, 7696], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1563], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [1563, 2822], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2822, 3523], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3523, 4394], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4395, 5929], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5929, 7007], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7008, 7394], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7394, 7696], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450200.json b/annotations/task-0045/episode_00450200.json new file mode 100644 index 0000000000000000000000000000000000000000..3609184c7bf03f6f757b228071a6adc8750342f7 --- /dev/null +++ b/annotations/task-0045/episode_00450200.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7740, + "valid_duration": [0, 7740] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 447], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [447, 1282], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1282, 2160], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2160, 3195], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3195, 4476], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4476, 5041], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5041, 5343], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5344, 6189], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6190, 6660], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6660, 7031], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7031, 7389], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7390, 7548], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7557, 7740], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1282], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1282, 3195], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3195, 4476], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4476, 5343], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5344, 6660], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6660, 7389], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7390, 7548], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7557, 7740], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450210.json b/annotations/task-0045/episode_00450210.json new file mode 100644 index 0000000000000000000000000000000000000000..347cbf7cf3d01ff866f500d37bcd21be15149713 --- /dev/null +++ b/annotations/task-0045/episode_00450210.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8368, + "valid_duration": [0, 8368] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 971], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [977, 1944], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1944, 2581], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2581, 3600], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3633, 4750], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4750, 5363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5366, 5621], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5624, 6508], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6508, 6934], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6943, 7452], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7453, 7892], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7892, 8128], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8143, 8368], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1944], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1944, 3600], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3633, 4750], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4750, 5621], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5624, 6934], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6943, 7892], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7892, 8128], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8143, 8368], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450220.json b/annotations/task-0045/episode_00450220.json new file mode 100644 index 0000000000000000000000000000000000000000..c0168dac05cc666dffaf91b48208f1df2e546f2b --- /dev/null +++ b/annotations/task-0045/episode_00450220.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8190, + "valid_duration": [0, 8190] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 676], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [677, 1535], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1535, 2239], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2239, 3630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3630, 4654], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4654, 5236], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5245, 5497], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5497, 6226], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6290, 6744], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6759, 7256], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7269, 7662], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7690, 7938], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7938, 8190], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1535], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1535, 3630], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3630, 4654], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4654, 5497], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5497, 6744], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6759, 7662], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7690, 7938], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7938, 8190], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450230.json b/annotations/task-0045/episode_00450230.json new file mode 100644 index 0000000000000000000000000000000000000000..478b05bd2acf4f423fc32b254e81ee42028c42e1 --- /dev/null +++ b/annotations/task-0045/episode_00450230.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8232, + "valid_duration": [0, 8232] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 918], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [927, 1797], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1797, 2490], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2490, 3620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3621, 4742], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4742, 5364], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5364, 5647], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5647, 6360], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6375, 6883], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6883, 7316], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7319, 7717], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7726, 7947], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7947, 8232], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1797], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1797, 3620], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3621, 4742], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4742, 5647], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5647, 6883], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6883, 7717], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7726, 7947], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7947, 8232], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450240.json b/annotations/task-0045/episode_00450240.json new file mode 100644 index 0000000000000000000000000000000000000000..010588a8fef5e852da173c0e345dbb54348da649 --- /dev/null +++ b/annotations/task-0045/episode_00450240.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8684, + "valid_duration": [0, 8684] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 750], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [750, 1735], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1735, 2400], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2400, 3537], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3537, 4600], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4600, 5143], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5143, 5389], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5389, 6471], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6471, 7037], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7037, 7590], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7590, 8103], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8103, 8405], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8405, 8684], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1735], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1735, 3537], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3537, 4600], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4600, 5389], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5389, 7037], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7037, 8103], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8103, 8405], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8405, 8684], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450250.json b/annotations/task-0045/episode_00450250.json new file mode 100644 index 0000000000000000000000000000000000000000..cded6a938b457675861754db60ce049ca136ab85 --- /dev/null +++ b/annotations/task-0045/episode_00450250.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8392, + "valid_duration": [0, 8392] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 518], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [518, 1371], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1371, 2115], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2145, 3302], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3302, 4694], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4695, 5297], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5297, 5604], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5604, 6484], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6484, 7002], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7002, 7502], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7503, 7936], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7936, 8206], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8206, 8392], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1371], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1371, 3302], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3302, 4694], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4695, 5604], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5604, 7002], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7002, 7936], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7936, 8206], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8206, 8392], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450260.json b/annotations/task-0045/episode_00450260.json new file mode 100644 index 0000000000000000000000000000000000000000..13fd455e19f8e19557825cafd01ae43a9060d187 --- /dev/null +++ b/annotations/task-0045/episode_00450260.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10353, + "valid_duration": [39, 10392] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 904], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [904, 2124], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2124, 3573], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3574, 4675], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4675, 5803], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5803, 6648], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6648, 7095], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7095, 7896], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7896, 8502], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8502, 9092], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9092, 9735], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9735, 10077], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10077, 10392], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 2124], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [2124, 4675], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4675, 5803], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5803, 7095], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7095, 8502], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8502, 9735], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9735, 10077], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10077, 10392], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450270.json b/annotations/task-0045/episode_00450270.json new file mode 100644 index 0000000000000000000000000000000000000000..f9819b26e0ddb1ffe2dcb7b478d5cd3e75b7db45 --- /dev/null +++ b/annotations/task-0045/episode_00450270.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8444, + "valid_duration": [0, 8444] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 820], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [820, 1568], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1568, 2296], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2296, 3408], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3408, 4657], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4657, 5301], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5301, 5638], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5638, 6630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6630, 7137], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7137, 7591], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7591, 8023], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8023, 8220], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8220, 8444], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1568], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1568, 3408], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3408, 4657], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4657, 5638], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5638, 7137], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7137, 8023], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8023, 8220], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8220, 8444], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450280.json b/annotations/task-0045/episode_00450280.json new file mode 100644 index 0000000000000000000000000000000000000000..f23659061ce42ecb5318c74d1fe5f16bebb08ddf --- /dev/null +++ b/annotations/task-0045/episode_00450280.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8790, + "valid_duration": [0, 8790] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 847], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["hotdog_208"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [848, 1838], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1838, 2516], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2516, 3565], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3566, 4968], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4968, 5662], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5663, 5939], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5939, 6717], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6717, 7305], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7305, 7835], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7835, 8298], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8298, 8580], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8580, 8790], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["hotdog_208"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1838], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1838, 3565], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3566, 4968], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4968, 5939], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5939, 7305], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7305, 8298], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8298, 8580], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8580, 8790], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450290.json b/annotations/task-0045/episode_00450290.json new file mode 100644 index 0000000000000000000000000000000000000000..bc6eaa351f8a6ce39a39cd255c6c73437f1e5aff --- /dev/null +++ b/annotations/task-0045/episode_00450290.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7204, + "valid_duration": [0, 7204] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 173], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [173, 1030], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1030, 1591], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1591, 2620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2620, 3827], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3827, 4426], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4426, 4703], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4703, 5446], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5446, 5913], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5913, 6343], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6343, 6721], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6721, 6919], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6919, 7204], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1030], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1030, 2620], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2620, 3827], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3827, 4703], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4703, 5913], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5913, 6721], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6721, 6919], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6919, 7204], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450300.json b/annotations/task-0045/episode_00450300.json new file mode 100644 index 0000000000000000000000000000000000000000..6a421c73fbf76a96c7bc415e1cb362802c95d4a6 --- /dev/null +++ b/annotations/task-0045/episode_00450300.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7679, + "valid_duration": [0, 7679] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 616], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [616, 1639], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1639, 2082], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2082, 3157], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3160, 4205], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4205, 4665], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4665, 4955], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4955, 6057], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6161, 6469], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6472, 6921], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6921, 7263], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7266, 7476], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7476, 7679], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1639], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1639, 3157], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3160, 4205], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4205, 4955], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4955, 6469], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6472, 7263], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7266, 7476], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7476, 7679], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450310.json b/annotations/task-0045/episode_00450310.json new file mode 100644 index 0000000000000000000000000000000000000000..2dd375be80a99aed1252211aa1086fca38301626 --- /dev/null +++ b/annotations/task-0045/episode_00450310.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7866, + "valid_duration": [0, 7866] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 864], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [867, 1654], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1654, 2248], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2248, 3504], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3504, 4350], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4350, 4895], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4896, 5128], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5129, 6230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6233, 6689], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6689, 7133], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7139, 7495], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7495, 7671], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7672, 7866], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1654], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1654, 3504], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3504, 4350], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4350, 5128], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5129, 6689], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6689, 7495], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7495, 7671], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7672, 7866], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450320.json b/annotations/task-0045/episode_00450320.json new file mode 100644 index 0000000000000000000000000000000000000000..44d5c834fdde4701690c22cd516266870b751068 --- /dev/null +++ b/annotations/task-0045/episode_00450320.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8191, + "valid_duration": [0, 8191] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1046], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["floors_kxcpgy_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1046, 1770], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1770, 2709], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2709, 3903], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3903, 5042], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5042, 5624], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5627, 5909], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5909, 6606], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6606, 7020], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7020, 7423], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7423, 7770], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7770, 7989], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7990, 8191], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["floors_kxcpgy_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1770], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1770, 3903], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3903, 5042], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5042, 5909], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5909, 7020], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7020, 7770], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7770, 7989], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7990, 8191], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450330.json b/annotations/task-0045/episode_00450330.json new file mode 100644 index 0000000000000000000000000000000000000000..332b33d76aac1dab98f31c71715e602fc1a8060d --- /dev/null +++ b/annotations/task-0045/episode_00450330.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7305, + "valid_duration": [0, 7305] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 361], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [372, 1153], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1162, 1756], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1756, 2937], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2937, 4139], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4139, 4718], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4718, 4955], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4955, 5672], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5678, 6145], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6145, 6510], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6510, 6894], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6894, 7083], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7083, 7305], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1153], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1162, 2937], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2937, 4139], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4139, 4955], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4955, 6145], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6145, 6894], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6894, 7083], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7083, 7305], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450340.json b/annotations/task-0045/episode_00450340.json new file mode 100644 index 0000000000000000000000000000000000000000..3f8d52e018a8f10ce45ed91fce1f7a35d0602f8e --- /dev/null +++ b/annotations/task-0045/episode_00450340.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7209, + "valid_duration": [0, 7209] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 668], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [668, 1484], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1484, 2088], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2088, 2622], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2667, 3678], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3678, 4203], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4203, 4494], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4503, 5466], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5508, 5979], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5985, 6410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6410, 6743], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6755, 6960], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6966, 7209], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1484], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [1484, 2622], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2667, 3678], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3678, 4494], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4503, 5979], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5985, 6743], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6755, 6960], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6966, 7209], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450350.json b/annotations/task-0045/episode_00450350.json new file mode 100644 index 0000000000000000000000000000000000000000..03310a519ce2ae8820c85c522ef877b13ae4f8ce --- /dev/null +++ b/annotations/task-0045/episode_00450350.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7446, + "valid_duration": [0, 7446] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 369], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [369, 1194], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1194, 1813], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1822, 3090], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3091, 3915], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3915, 4440], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4441, 4629], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4629, 5623], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5626, 6110], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6110, 6540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6540, 6894], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6899, 7055], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7056, 7446], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1194], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1194, 3090], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3091, 3915], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3915, 4629], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4629, 6110], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6110, 6894], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6899, 7055], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7056, 7446], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450360.json b/annotations/task-0045/episode_00450360.json new file mode 100644 index 0000000000000000000000000000000000000000..c4db39c325dfbc1b2b02467fcb23fd230d62ac60 --- /dev/null +++ b/annotations/task-0045/episode_00450360.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7455, + "valid_duration": [0, 7455] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 671], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [672, 1325], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1325, 2067], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2067, 2882], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2883, 4161], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4161, 4811], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4811, 5073], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5073, 5825], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5825, 6262], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6262, 6646], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6647, 6944], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6944, 7170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7170, 7455], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1325], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1325, 2882], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2883, 4161], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4161, 5073], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5073, 6262], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6262, 6944], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6944, 7170], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7170, 7455], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450370.json b/annotations/task-0045/episode_00450370.json new file mode 100644 index 0000000000000000000000000000000000000000..8f546c3b1a89a6bfa8440ae71fe9adb51b6c8b8e --- /dev/null +++ b/annotations/task-0045/episode_00450370.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7796, + "valid_duration": [0, 7796] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 615], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [625, 1508], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1509, 2291], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2291, 3470], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3470, 4538], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4538, 5183], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5183, 5403], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5502, 6173], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6179, 6590], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6590, 6945], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6946, 7257], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7257, 7507], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7507, 7796], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1508], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1509, 3470], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3470, 4538], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4538, 5403], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5502, 6590], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6590, 7257], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7257, 7507], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7507, 7796], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450380.json b/annotations/task-0045/episode_00450380.json new file mode 100644 index 0000000000000000000000000000000000000000..bc4db15231d0cbbd830935859542e14d0f1d4d53 --- /dev/null +++ b/annotations/task-0045/episode_00450380.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8364, + "valid_duration": [0, 8364] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 953], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [953, 1839], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1839, 2572], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2572, 3615], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3615, 4602], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4602, 5325], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5325, 5614], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5614, 6510], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6510, 7060], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7060, 7440], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7440, 7830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7830, 8066], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8066, 8364], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1839], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1839, 3615], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3615, 4602], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4602, 5614], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5614, 7060], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7060, 7830], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7830, 8066], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8066, 8364], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450390.json b/annotations/task-0045/episode_00450390.json new file mode 100644 index 0000000000000000000000000000000000000000..9b6d3ab2b314d929128a9f7c1e23c2e760e179f3 --- /dev/null +++ b/annotations/task-0045/episode_00450390.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8099, + "valid_duration": [0, 8099] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 867], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [867, 1813], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1813, 2472], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2472, 3217], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3217, 4082], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4082, 4777], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4777, 5073], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5073, 6033], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6033, 6516], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6516, 7191], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7191, 7654], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7654, 7884], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7884, 8099], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1813], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [1813, 3217], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3217, 4082], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4082, 5073], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5073, 6516], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6516, 7654], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7654, 7884], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7884, 8099], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450400.json b/annotations/task-0045/episode_00450400.json new file mode 100644 index 0000000000000000000000000000000000000000..6b36f3f124c9cdeca882c49167466951bd16b437 --- /dev/null +++ b/annotations/task-0045/episode_00450400.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 6677, + "valid_duration": [0, 6677] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 574], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [574, 1349], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1349, 1917], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1917, 2429], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2429, 3554], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3554, 4098], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4098, 4284], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4284, 5016], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5016, 5483], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5483, 5914], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5914, 6201], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6201, 6478], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6486, 6677], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1349], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [1349, 2429], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2429, 3554], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3554, 4284], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4284, 5483], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5483, 6201], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6201, 6478], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6486, 6677], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450410.json b/annotations/task-0045/episode_00450410.json new file mode 100644 index 0000000000000000000000000000000000000000..4b08b704b767a13ae62c5997a4c23ee64ef31799 --- /dev/null +++ b/annotations/task-0045/episode_00450410.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8457, + "valid_duration": [0, 8457] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 840], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [849, 1747], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1747, 2396], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2396, 3682], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3682, 4842], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4842, 5532], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5532, 5751], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5751, 6697], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6697, 7122], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7122, 7491], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7491, 7898], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7898, 8153], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8153, 8457], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1747], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1747, 3682], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3682, 4842], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4842, 5751], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5751, 7122], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7122, 7898], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7898, 8153], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8153, 8457], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450430.json b/annotations/task-0045/episode_00450430.json new file mode 100644 index 0000000000000000000000000000000000000000..5727cf12c55a9f0f3d49a4dda4656391557b6841 --- /dev/null +++ b/annotations/task-0045/episode_00450430.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7898, + "valid_duration": [0, 7898] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 383], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [383, 1395], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1395, 2550], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2550, 3150], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3150, 4143], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4143, 4797], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4797, 5030], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5030, 6010], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6010, 6537], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6537, 6939], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6939, 7342], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7342, 7599], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7599, 7898], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1395], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]]], + "frame_duration": [1395, 3150], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3150, 4143], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4143, 5030], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5030, 6537], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6537, 7342], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7342, 7599], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7599, 7898], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450440.json b/annotations/task-0045/episode_00450440.json new file mode 100644 index 0000000000000000000000000000000000000000..2329f3b7ac7cdc2ed4622cdec9288e7c87834f86 --- /dev/null +++ b/annotations/task-0045/episode_00450440.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9162, + "valid_duration": [0, 9162] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 951], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [952, 2018], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2018, 3084], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3084, 4317], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4317, 5414], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5414, 6073], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6074, 6282], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6282, 7297], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7297, 7795], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7795, 8305], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8306, 8676], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8676, 8917], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8917, 9162], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2018], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [2018, 4317], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4317, 5414], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5414, 6282], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6282, 7795], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7795, 8676], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8676, 8917], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8917, 9162], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450450.json b/annotations/task-0045/episode_00450450.json new file mode 100644 index 0000000000000000000000000000000000000000..0e0a9afcc7239f39bb3a3a3898ab6e6ff8847338 --- /dev/null +++ b/annotations/task-0045/episode_00450450.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8354, + "valid_duration": [0, 8354] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1019], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1019, 1985], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1985, 2709], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2709, 3748], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3748, 4788], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4788, 5439], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5439, 5694], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5694, 6549], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6549, 7011], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7011, 7454], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7454, 7814], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7814, 8072], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8072, 8354], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1985], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1985, 3748], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3748, 4788], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4788, 5694], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5694, 7011], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7011, 7814], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7814, 8072], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8072, 8354], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450470.json b/annotations/task-0045/episode_00450470.json new file mode 100644 index 0000000000000000000000000000000000000000..127e77ea2d27976d1001d7939d7d45c5d3ecf5b1 --- /dev/null +++ b/annotations/task-0045/episode_00450470.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8884, + "valid_duration": [0, 8884] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 963], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [966, 1896], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1896, 2679], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2679, 3851], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3851, 5136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5136, 5760], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5760, 6026], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6026, 7054], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7054, 7483], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7483, 8031], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8031, 8388], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8388, 8638], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8638, 8884], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1896], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1896, 3851], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3851, 5136], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5136, 6026], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6026, 7483], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7483, 8388], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8388, 8638], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8638, 8884], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450480.json b/annotations/task-0045/episode_00450480.json new file mode 100644 index 0000000000000000000000000000000000000000..28bc98aa65c726a3dd006b4eaf4192387c9fbf98 --- /dev/null +++ b/annotations/task-0045/episode_00450480.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7156, + "valid_duration": [0, 7156] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 771], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [771, 1640], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1640, 2026], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2026, 2501], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2501, 3361], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3361, 3982], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3982, 4233], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4233, 5136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5136, 5633], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5633, 6134], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6134, 6590], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6590, 6912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6912, 7156], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1640], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [1640, 2501], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2501, 3361], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3361, 4233], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4233, 5633], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5633, 6590], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6590, 6912], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6912, 7156], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450490.json b/annotations/task-0045/episode_00450490.json new file mode 100644 index 0000000000000000000000000000000000000000..cf9323d1511d13e0738aa4469aa64087706ffb69 --- /dev/null +++ b/annotations/task-0045/episode_00450490.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8525, + "valid_duration": [0, 8525] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 992], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [992, 1825], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1825, 2556], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2556, 3759], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3759, 4810], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4810, 5532], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5532, 5852], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5852, 6757], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6757, 7260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7260, 7791], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7791, 8102], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8114, 8270], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8282, 8525], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1825], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1825, 3759], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3759, 4810], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4810, 5852], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5852, 7260], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7260, 8102], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8114, 8270], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8282, 8525], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450500.json b/annotations/task-0045/episode_00450500.json new file mode 100644 index 0000000000000000000000000000000000000000..421ea4776c101d41f867969ec0ad693785745718 --- /dev/null +++ b/annotations/task-0045/episode_00450500.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8062, + "valid_duration": [0, 8062] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 456], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [456, 1549], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1549, 2173], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2174, 3257], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3257, 4327], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4328, 4955], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4956, 5299], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5299, 6185], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6185, 6648], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6648, 7246], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7246, 7632], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7632, 7849], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7849, 8062], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1549], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1549, 3257], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3257, 4327], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4328, 5299], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5299, 6648], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6648, 7632], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7632, 7849], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7849, 8062], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450510.json b/annotations/task-0045/episode_00450510.json new file mode 100644 index 0000000000000000000000000000000000000000..29e587217291884b54977961f145cca6288c8c83 --- /dev/null +++ b/annotations/task-0045/episode_00450510.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7867, + "valid_duration": [4, 7871] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4, 1068], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1068, 1840], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1840, 2487], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2487, 3519], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3519, 4400], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4400, 5111], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5112, 5316], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5316, 6135], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6135, 6555], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6555, 7065], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7065, 7370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7370, 7640], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7640, 7871], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4, 1840], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1840, 3519], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3519, 4400], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4400, 5316], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5316, 6555], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6555, 7370], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7370, 7640], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7640, 7871], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450520.json b/annotations/task-0045/episode_00450520.json new file mode 100644 index 0000000000000000000000000000000000000000..3f7378ec326801ec746841c329a069f4681c8304 --- /dev/null +++ b/annotations/task-0045/episode_00450520.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 6538, + "valid_duration": [30, 6568] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 99], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [100, 1085], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1086, 1790], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1790, 2458], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2458, 3447], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3447, 4099], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4099, 4350], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4350, 5049], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5049, 5440], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5440, 5907], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5907, 6186], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6186, 6360], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6361, 6568], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1085], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [1086, 2458], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2458, 3447], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3447, 4350], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4350, 5440], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5440, 6186], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6186, 6360], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6361, 6568], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450530.json b/annotations/task-0045/episode_00450530.json new file mode 100644 index 0000000000000000000000000000000000000000..e411c19953ebf95dc47233002dff2d4a576e0564 --- /dev/null +++ b/annotations/task-0045/episode_00450530.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7551, + "valid_duration": [0, 7551] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 779], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [779, 1592], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1595, 2235], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2235, 3230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3230, 4229], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4229, 4757], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4757, 5000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5000, 5834], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5852, 6239], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6269, 6660], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6672, 6962], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6965, 7148], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7148, 7551], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1592], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1595, 3230], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3230, 4229], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4229, 5000], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5000, 6239], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6269, 6962], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6965, 7148], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7148, 7551], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450540.json b/annotations/task-0045/episode_00450540.json new file mode 100644 index 0000000000000000000000000000000000000000..4f15eef3d1e5682574850a7f758c632da495c05d --- /dev/null +++ b/annotations/task-0045/episode_00450540.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7778, + "valid_duration": [24, 7802] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [24, 752], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [752, 1603], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1603, 2603], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2603, 3402], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3411, 4620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4620, 5197], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5200, 5439], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5499, 6318], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6318, 6569], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6569, 7080], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7080, 7385], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7394, 7576], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7576, 7802], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [24, 1603], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1603, 3402], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3411, 4620], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4620, 5439], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5499, 6569], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6569, 7385], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7394, 7576], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7576, 7802], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450550.json b/annotations/task-0045/episode_00450550.json new file mode 100644 index 0000000000000000000000000000000000000000..9ee013ca1bab6acc53c4dd74f96751f01b70ff0c --- /dev/null +++ b/annotations/task-0045/episode_00450550.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7728, + "valid_duration": [0, 7728] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 568], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [568, 1360], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1360, 2085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2085, 3222], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3222, 4309], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4309, 4890], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4890, 5127], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5127, 5989], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5989, 6420], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6421, 6968], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6969, 7280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7280, 7504], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7504, 7728], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1360], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1360, 3222], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3222, 4309], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4309, 5127], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5127, 6420], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6421, 7280], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7280, 7504], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7504, 7728], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450560.json b/annotations/task-0045/episode_00450560.json new file mode 100644 index 0000000000000000000000000000000000000000..108998140395683c1e3993b774aa6f9b8655a11a --- /dev/null +++ b/annotations/task-0045/episode_00450560.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9371, + "valid_duration": [60, 9431] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 551], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [551, 1635], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1635, 2858], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2858, 4050], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4050, 5039], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5039, 5680], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5680, 6015], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6015, 6990], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6990, 7591], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7591, 8130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8130, 8694], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8694, 9071], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9071, 9431], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1635], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1635, 4050], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4050, 5039], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5039, 6015], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6015, 7591], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7591, 8694], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8694, 9071], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9071, 9431], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450570.json b/annotations/task-0045/episode_00450570.json new file mode 100644 index 0000000000000000000000000000000000000000..f9b70b972ddf82be9eb0dc8144e65ca250c0a0ed --- /dev/null +++ b/annotations/task-0045/episode_00450570.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8490, + "valid_duration": [30, 8520] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 155], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [155, 1680], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1680, 2643], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2643, 3429], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3429, 4731], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4731, 5520], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5520, 5790], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5790, 6690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6690, 7154], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7154, 7677], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7677, 8060], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8060, 8298], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8298, 8520], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1680], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1680, 3429], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3429, 4731], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4731, 5790], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5790, 7154], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7154, 8060], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8060, 8298], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8298, 8520], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450580.json b/annotations/task-0045/episode_00450580.json new file mode 100644 index 0000000000000000000000000000000000000000..0a145ec6ba3d3299d8326e56cca510a0497cb7e6 --- /dev/null +++ b/annotations/task-0045/episode_00450580.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7163, + "valid_duration": [0, 7163] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 788], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [788, 1538], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1538, 2160], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2160, 3215], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3215, 4028], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4028, 4625], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4625, 4830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4830, 5738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5738, 6098], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6098, 6509], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6509, 6830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6830, 6983], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6983, 7163], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1538], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1538, 3215], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3215, 4028], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4028, 4830], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4830, 6098], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6098, 6830], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6830, 6983], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6983, 7163], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450590.json b/annotations/task-0045/episode_00450590.json new file mode 100644 index 0000000000000000000000000000000000000000..b18c99f51e2ad7dd12e1a94bcee19b985215819b --- /dev/null +++ b/annotations/task-0045/episode_00450590.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 6840, + "valid_duration": [0, 6840] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 451], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [451, 1237], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1237, 1915], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1915, 2884], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2884, 3645], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3645, 4255], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4255, 4485], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4485, 5279], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5279, 5738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5738, 6125], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6125, 6462], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6462, 6628], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6628, 6840], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1237], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1237, 2884], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2884, 3645], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3645, 4485], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4485, 5738], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5738, 6462], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6462, 6628], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6628, 6840], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450600.json b/annotations/task-0045/episode_00450600.json new file mode 100644 index 0000000000000000000000000000000000000000..fa1b4aa3b585aa62025dd5ef8921654b58f2c848 --- /dev/null +++ b/annotations/task-0045/episode_00450600.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8414, + "valid_duration": [0, 8414] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1034], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1034, 1839], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1839, 2446], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2446, 3439], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3439, 4694], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4694, 5381], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5381, 5691], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5691, 6627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6627, 7077], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7077, 7505], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7505, 7830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7830, 8152], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8152, 8414], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1839], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1839, 3439], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3439, 4694], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4694, 5691], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5691, 7077], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7077, 7830], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7830, 8152], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8152, 8414], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450610.json b/annotations/task-0045/episode_00450610.json new file mode 100644 index 0000000000000000000000000000000000000000..100a41d9798e2fa0164c8946a8dfa86be490feb6 --- /dev/null +++ b/annotations/task-0045/episode_00450610.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7968, + "valid_duration": [0, 7968] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 989], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [989, 1822], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1822, 2467], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2467, 3719], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3719, 4575], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4575, 5185], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5185, 5397], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5398, 6269], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6269, 6756], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6756, 7170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7171, 7530], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7530, 7701], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7702, 7968], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1822], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1822, 3719], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3719, 4575], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4575, 5397], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5398, 6756], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6756, 7530], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7530, 7701], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7702, 7968], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450620.json b/annotations/task-0045/episode_00450620.json new file mode 100644 index 0000000000000000000000000000000000000000..c6745d4b48ee7dcbe8fdd4b2d306fd771f9d5aa8 --- /dev/null +++ b/annotations/task-0045/episode_00450620.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8503, + "valid_duration": [0, 8503] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 894], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [894, 1847], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1847, 2457], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2458, 3214], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3215, 4612], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4612, 5284], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5285, 5606], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5606, 6573], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6573, 7091], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7091, 7633], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7634, 8046], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8046, 8282], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8282, 8503], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1847], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [1847, 3214], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3215, 4612], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4612, 5606], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5606, 7091], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7091, 8046], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8046, 8282], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8282, 8503], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450630.json b/annotations/task-0045/episode_00450630.json new file mode 100644 index 0000000000000000000000000000000000000000..100c7255f402a4a18f2714fa37f01b73b5be0035 --- /dev/null +++ b/annotations/task-0045/episode_00450630.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7868, + "valid_duration": [0, 7868] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 757], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [757, 1641], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1641, 2187], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2187, 3171], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3171, 4387], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4387, 5025], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5025, 5330], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5330, 6217], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6217, 6627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6627, 7105], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7105, 7471], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7471, 7680], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7680, 7868], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1641], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1641, 3171], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3171, 4387], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4387, 5330], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5330, 6627], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6627, 7471], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7471, 7680], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7680, 7868], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450640.json b/annotations/task-0045/episode_00450640.json new file mode 100644 index 0000000000000000000000000000000000000000..9f0dce322d2ad61fa0e99d51058c61e4a54456ec --- /dev/null +++ b/annotations/task-0045/episode_00450640.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7755, + "valid_duration": [0, 7755] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 401], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [401, 1615], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1615, 2001], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2001, 2991], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2991, 4293], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4293, 4888], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4888, 5110], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5110, 5948], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5948, 6467], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6467, 6894], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6894, 7236], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7236, 7492], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7492, 7755], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1615], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1615, 2991], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2991, 4293], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4293, 5110], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5110, 6467], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6467, 7236], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7236, 7492], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7492, 7755], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450650.json b/annotations/task-0045/episode_00450650.json new file mode 100644 index 0000000000000000000000000000000000000000..22c2feaf10e2b7ba32544dfebc612e1fc9469f52 --- /dev/null +++ b/annotations/task-0045/episode_00450650.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7075, + "valid_duration": [0, 7075] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 76], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [76, 1044], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1044, 1799], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1799, 2460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2460, 3504], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3504, 4176], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4176, 4402], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4402, 5280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5280, 5765], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5765, 6180], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6180, 6501], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6502, 6817], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6817, 7075], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1044], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [1044, 2460], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2460, 3504], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3504, 4402], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4402, 5765], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5765, 6501], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6502, 6817], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6817, 7075], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450660.json b/annotations/task-0045/episode_00450660.json new file mode 100644 index 0000000000000000000000000000000000000000..db9d8c72d4eb8d33a0c9fcd6dd8ef8e25bd4e5e8 --- /dev/null +++ b/annotations/task-0045/episode_00450660.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7410, + "valid_duration": [0, 7410] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 864], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [864, 1672], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1673, 2224], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2225, 2775], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2775, 3964], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3964, 4567], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4567, 4793], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4793, 5668], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5668, 6057], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6057, 6363], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6364, 6797], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6809, 7132], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7132, 7410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1672], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [1673, 2775], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2775, 3964], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3964, 4793], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4793, 6057], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6057, 6797], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6809, 7132], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7132, 7410], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450670.json b/annotations/task-0045/episode_00450670.json new file mode 100644 index 0000000000000000000000000000000000000000..be0b1170dfb65d2921f1e71163395365b5765352 --- /dev/null +++ b/annotations/task-0045/episode_00450670.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8119, + "valid_duration": [0, 8119] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 844], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [844, 1683], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1683, 2369], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2369, 3283], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3283, 4471], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4471, 5164], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5164, 5409], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5410, 6201], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6201, 6605], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6635, 7188], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7188, 7585], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7586, 7858], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7858, 8119], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1683], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1683, 3283], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3283, 4471], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4471, 5409], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5410, 6605], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6635, 7585], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7586, 7858], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7858, 8119], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450680.json b/annotations/task-0045/episode_00450680.json new file mode 100644 index 0000000000000000000000000000000000000000..19efb98628877c328b73a0f736190ac60ce22b3a --- /dev/null +++ b/annotations/task-0045/episode_00450680.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8155, + "valid_duration": [0, 8155] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 935], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [935, 1825], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1825, 2581], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2581, 3234], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3234, 4250], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4250, 4874], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4874, 5297], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5298, 6102], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6102, 6579], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6579, 7214], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7215, 7626], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7626, 7855], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7855, 8155], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1825], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [1825, 3234], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3234, 4250], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4250, 5297], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5298, 6579], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6579, 7626], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7626, 7855], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7855, 8155], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450690.json b/annotations/task-0045/episode_00450690.json new file mode 100644 index 0000000000000000000000000000000000000000..4f66296f492ed403d686b1ec47488cfe2b0cbc9d --- /dev/null +++ b/annotations/task-0045/episode_00450690.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 6875, + "valid_duration": [0, 6875] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 233], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [233, 1163], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1163, 1664], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1664, 2741], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2741, 3668], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3668, 4260], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4260, 4506], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4506, 5307], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5307, 5683], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5683, 6118], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6119, 6523], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6523, 6702], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6702, 6875], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1163], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1163, 2741], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2741, 3668], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3668, 4506], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4506, 5683], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5683, 6523], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6523, 6702], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6702, 6875], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450700.json b/annotations/task-0045/episode_00450700.json new file mode 100644 index 0000000000000000000000000000000000000000..3859f8e5babe1a1087debad8d374a304341ab754 --- /dev/null +++ b/annotations/task-0045/episode_00450700.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7535, + "valid_duration": [0, 7535] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 854], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [854, 1570], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1570, 2244], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2244, 3019], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3019, 4074], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4074, 4572], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4572, 4829], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4829, 5667], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5667, 6127], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6127, 6621], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6621, 6926], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6926, 7138], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7138, 7535], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1570], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [1570, 3019], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3019, 4074], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4074, 4829], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4829, 6127], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6127, 6926], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6926, 7138], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7138, 7535], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450710.json b/annotations/task-0045/episode_00450710.json new file mode 100644 index 0000000000000000000000000000000000000000..fac9cd1e2657bc29f671293233fc0409f8f3daac --- /dev/null +++ b/annotations/task-0045/episode_00450710.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7740, + "valid_duration": [0, 7740] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 701], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [701, 1622], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1625, 2036], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2036, 2984], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2984, 4326], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4326, 4859], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4859, 5111], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5111, 5879], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5879, 6300], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6300, 6731], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6731, 7055], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7055, 7340], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7340, 7740], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1622], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1625, 2984], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2984, 4326], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4326, 5111], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5111, 6300], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6300, 7055], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7055, 7340], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7340, 7740], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450730.json b/annotations/task-0045/episode_00450730.json new file mode 100644 index 0000000000000000000000000000000000000000..17c1b4f8b01ce110a2a3bdead85fe4303da37740 --- /dev/null +++ b/annotations/task-0045/episode_00450730.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7892, + "valid_duration": [0, 7892] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 501], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [501, 1323], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1323, 2075], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2076, 2846], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2846, 4044], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4044, 4643], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4643, 4913], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4913, 5945], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5946, 6422], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6423, 6978], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6979, 7380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7380, 7590], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7599, 7892], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1323], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1323, 2846], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2846, 4044], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4044, 4913], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4913, 6422], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6423, 7380], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7380, 7590], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7599, 7892], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450740.json b/annotations/task-0045/episode_00450740.json new file mode 100644 index 0000000000000000000000000000000000000000..5c4de44094b6208057551ddc56a740606193c6f2 --- /dev/null +++ b/annotations/task-0045/episode_00450740.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7664, + "valid_duration": [0, 7664] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 510], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [510, 1351], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1351, 2036], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2036, 2598], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2598, 3633], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3633, 4198], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4198, 4613], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4613, 5611], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5611, 6074], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6074, 6821], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6821, 7184], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7184, 7440], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7440, 7664], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1351], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [1351, 2598], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2598, 3633], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3633, 4613], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4613, 6074], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6074, 7184], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7184, 7440], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7440, 7664], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450760.json b/annotations/task-0045/episode_00450760.json new file mode 100644 index 0000000000000000000000000000000000000000..68d48ecb38a0354034c8485889317cb543184c45 --- /dev/null +++ b/annotations/task-0045/episode_00450760.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9816, + "valid_duration": [30, 9846] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 829], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [830, 1803], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1803, 3180], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3180, 4071], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4071, 5074], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5074, 5732], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5732, 6235], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6235, 7140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7140, 7830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7830, 8449], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8449, 9156], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9157, 9486], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9487, 9846], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1803], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1803, 4071], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4071, 5074], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5074, 6235], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6235, 7830], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7830, 9156], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9157, 9486], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9487, 9846], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450770.json b/annotations/task-0045/episode_00450770.json new file mode 100644 index 0000000000000000000000000000000000000000..41050e6dbe5c3dfff2085b5a271a22f09f40a32b --- /dev/null +++ b/annotations/task-0045/episode_00450770.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7580, + "valid_duration": [0, 7580] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 429], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [429, 1508], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1508, 2316], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2316, 3224], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3224, 4101], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4101, 4663], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4663, 4939], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4939, 5756], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5756, 6210], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6210, 6756], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6756, 7094], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7094, 7337], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7337, 7580], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1508], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1508, 3224], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3224, 4101], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4101, 4939], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4939, 6210], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6210, 7094], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7094, 7337], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7337, 7580], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450780.json b/annotations/task-0045/episode_00450780.json new file mode 100644 index 0000000000000000000000000000000000000000..3a5b54e1c71bd1086b462d1fcc32d4243d50447f --- /dev/null +++ b/annotations/task-0045/episode_00450780.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 6656, + "valid_duration": [30, 6686] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 170], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [170, 1059], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1059, 1560], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1560, 1942], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1942, 3257], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3257, 3877], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3877, 4090], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4090, 4861], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4861, 5340], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5340, 5881], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5881, 6211], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6211, 6433], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6433, 6686], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1059], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [1059, 1942], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1942, 3257], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3257, 4090], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4090, 5340], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5340, 6211], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6211, 6433], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6433, 6686], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450790.json b/annotations/task-0045/episode_00450790.json new file mode 100644 index 0000000000000000000000000000000000000000..b372e4e347987dbb6640492809012976c5465594 --- /dev/null +++ b/annotations/task-0045/episode_00450790.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7980, + "valid_duration": [0, 7980] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 581], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [581, 1786], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1786, 2113], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2113, 3396], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3396, 4337], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4337, 5019], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5019, 5282], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5282, 6189], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6189, 6671], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6671, 7152], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7155, 7505], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7505, 7747], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7747, 7980], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1786], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1786, 3396], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3396, 4337], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4337, 5282], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5282, 6671], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6671, 7505], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7505, 7747], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7747, 7980], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450810.json b/annotations/task-0045/episode_00450810.json new file mode 100644 index 0000000000000000000000000000000000000000..7507eaffe7ca26f9a2df5265be387d48009a820c --- /dev/null +++ b/annotations/task-0045/episode_00450810.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7890, + "valid_duration": [0, 7890] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1049], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1049, 2015], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2015, 2636], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2666, 3245], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3275, 4274], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4274, 4835], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4835, 5087], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5093, 6086], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6086, 6506], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6506, 6950], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6950, 7352], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7358, 7559], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7559, 7890], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2015], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [2015, 3245], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3275, 4274], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4274, 5087], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5093, 6506], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6506, 7352], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7358, 7559], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7559, 7890], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450820.json b/annotations/task-0045/episode_00450820.json new file mode 100644 index 0000000000000000000000000000000000000000..3b51cac00df393d0ad26ef68aa78a9206742bd9a --- /dev/null +++ b/annotations/task-0045/episode_00450820.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7117, + "valid_duration": [0, 7117] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 186], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [186, 1204], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1204, 1830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1830, 2893], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2893, 3935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3935, 4475], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4475, 4715], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4715, 5452], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5452, 5923], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5923, 6371], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6371, 6662], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6682, 6862], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6862, 7117], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1204], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1204, 2893], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2893, 3935], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3935, 4715], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4715, 5923], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5923, 6662], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6682, 6862], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6862, 7117], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450830.json b/annotations/task-0045/episode_00450830.json new file mode 100644 index 0000000000000000000000000000000000000000..1aef6f4487e3627fa790e0cba55526232356e55f --- /dev/null +++ b/annotations/task-0045/episode_00450830.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7643, + "valid_duration": [0, 7643] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 630], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [648, 1500], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1500, 2159], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2159, 2655], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2655, 3923], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3923, 4591], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4591, 4853], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4853, 5667], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5667, 6140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6140, 6731], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6731, 7087], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7087, 7324], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7324, 7643], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1500], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [1500, 2655], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2655, 3923], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3923, 4853], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4853, 6140], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6140, 7087], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7087, 7324], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7324, 7643], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450840.json b/annotations/task-0045/episode_00450840.json new file mode 100644 index 0000000000000000000000000000000000000000..dbc53adf213ed2943a8d52e76f29e4a5e49601b1 --- /dev/null +++ b/annotations/task-0045/episode_00450840.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7539, + "valid_duration": [0, 7539] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 841], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [842, 1678], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1678, 2437], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2437, 3177], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3177, 4226], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4226, 4758], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4758, 5023], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5023, 5786], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5786, 6274], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6274, 6718], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6718, 7054], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7054, 7297], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7298, 7539], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1678], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [1678, 3177], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3177, 4226], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4226, 5023], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5023, 6274], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6274, 7054], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7054, 7297], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7298, 7539], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450850.json b/annotations/task-0045/episode_00450850.json new file mode 100644 index 0000000000000000000000000000000000000000..088dd8ccf3b9671c98c239fe0aabf793be32205a --- /dev/null +++ b/annotations/task-0045/episode_00450850.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7381, + "valid_duration": [0, 7381] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 576], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [585, 1498], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1498, 2136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2137, 2808], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3199, 3846], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3846, 4345], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4349, 4586], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4586, 5498], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5609, 6019], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6020, 6400], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6400, 6736], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6736, 7069], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7069, 7381], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1498], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [1498, 2808], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3199, 3846], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3846, 4586], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4586, 6019], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6020, 6736], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6736, 7069], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7069, 7381], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450860.json b/annotations/task-0045/episode_00450860.json new file mode 100644 index 0000000000000000000000000000000000000000..6572d01c8fb987895da778e3ecd9dfffb9fba72c --- /dev/null +++ b/annotations/task-0045/episode_00450860.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 6345, + "valid_duration": [0, 6345] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 67], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [67, 988], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [988, 1620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1620, 2031], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2031, 3047], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3047, 3694], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3694, 3936], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3936, 4870], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4870, 5284], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5284, 5646], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5646, 5949], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5949, 6140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6140, 6345], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 988], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [988, 2031], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2031, 3047], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3047, 3936], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3936, 5284], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5284, 5949], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5949, 6140], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6140, 6345], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450870.json b/annotations/task-0045/episode_00450870.json new file mode 100644 index 0000000000000000000000000000000000000000..2b625c61f56c2fc93814ada635cb80d87015a04a --- /dev/null +++ b/annotations/task-0045/episode_00450870.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10077, + "valid_duration": [30, 10107] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 837], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [837, 1890], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1890, 3414], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3414, 4452], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4452, 5550], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5550, 6300], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6300, 6597], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6597, 7392], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7392, 8070], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8070, 8634], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8634, 9300], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9300, 9659], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9659, 10107], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1890], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "high_level"]]], + "frame_duration": [1890, 4452], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4452, 5550], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5550, 6597], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6597, 8070], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8070, 9300], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9300, 9659], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9659, 10107], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450880.json b/annotations/task-0045/episode_00450880.json new file mode 100644 index 0000000000000000000000000000000000000000..78be2f01927b47af353192539e3f753d340951d7 --- /dev/null +++ b/annotations/task-0045/episode_00450880.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7311, + "valid_duration": [0, 7311] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 873], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [889, 1698], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1698, 2305], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2305, 2823], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2823, 4106], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4106, 4612], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4612, 5025], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5025, 5814], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5814, 6198], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6228, 6588], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6591, 6886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6886, 7086], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7087, 7311], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1698], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [1698, 2823], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2823, 4106], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4106, 5025], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5025, 6198], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6228, 6886], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6886, 7086], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7087, 7311], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450890.json b/annotations/task-0045/episode_00450890.json new file mode 100644 index 0000000000000000000000000000000000000000..82ba37a091666a3fde9e835e32f8acfe6e969528 --- /dev/null +++ b/annotations/task-0045/episode_00450890.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 6360, + "valid_duration": [30, 6390] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 350], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [350, 1176], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1176, 1751], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1751, 2287], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2287, 3420], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3420, 3984], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3985, 4188], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4188, 4932], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4932, 5353], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5353, 5672], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5672, 5970], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5970, 6147], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6147, 6390], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1176], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [1176, 2287], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2287, 3420], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3420, 4188], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4188, 5353], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5353, 5970], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5970, 6147], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6147, 6390], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450900.json b/annotations/task-0045/episode_00450900.json new file mode 100644 index 0000000000000000000000000000000000000000..e5c391778aab9af55235914b42b06405b26c811e --- /dev/null +++ b/annotations/task-0045/episode_00450900.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7596, + "valid_duration": [0, 7596] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 720], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [723, 1554], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1554, 2286], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2287, 3261], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3261, 4407], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4407, 4996], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4996, 5246], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5246, 5985], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5985, 6498], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6498, 6879], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6879, 7218], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7219, 7378], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7378, 7596], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1554], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1554, 3261], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3261, 4407], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4407, 5246], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5246, 6498], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6498, 7218], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7219, 7378], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7378, 7596], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450910.json b/annotations/task-0045/episode_00450910.json new file mode 100644 index 0000000000000000000000000000000000000000..41759baecf26ca407733ed366f53e063fdb84ac3 --- /dev/null +++ b/annotations/task-0045/episode_00450910.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7734, + "valid_duration": [0, 7734] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 879], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [879, 1777], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1778, 2409], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2410, 3065], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3065, 4128], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4128, 4642], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4642, 4899], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4899, 6034], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6035, 6462], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6463, 6900], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6900, 7248], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7249, 7474], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7476, 7734], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1777], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [1778, 3065], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3065, 4128], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4128, 4899], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4899, 6462], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6463, 7248], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7249, 7474], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7476, 7734], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450920.json b/annotations/task-0045/episode_00450920.json new file mode 100644 index 0000000000000000000000000000000000000000..d829aae45106686ae9904196797f9fc921de8378 --- /dev/null +++ b/annotations/task-0045/episode_00450920.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7630, + "valid_duration": [0, 7630] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 894], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [894, 1778], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1800, 2508], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2508, 3264], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3264, 4303], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4303, 4880], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4880, 5161], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5161, 6000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6000, 6451], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6451, 6819], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6819, 7185], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7185, 7359], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7359, 7630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1778], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [1800, 3264], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3264, 4303], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4303, 5161], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5161, 6451], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6451, 7185], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7185, 7359], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7359, 7630], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450930.json b/annotations/task-0045/episode_00450930.json new file mode 100644 index 0000000000000000000000000000000000000000..629b6ca905f8ba8af952de4bbf501f618a87fa62 --- /dev/null +++ b/annotations/task-0045/episode_00450930.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7761, + "valid_duration": [0, 7761] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 702], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [702, 1534], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1534, 2181], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2181, 3268], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3268, 4301], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4301, 4855], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4856, 5080], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5080, 6075], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6076, 6475], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6476, 6961], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6961, 7328], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7329, 7510], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7510, 7761], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1534], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1534, 3268], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3268, 4301], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4301, 5080], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5080, 6475], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6476, 7328], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7329, 7510], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7510, 7761], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450940.json b/annotations/task-0045/episode_00450940.json new file mode 100644 index 0000000000000000000000000000000000000000..cb075a07b72a1f77f2f02fb831ad1e513f9bb182 --- /dev/null +++ b/annotations/task-0045/episode_00450940.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7791, + "valid_duration": [0, 7791] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 824], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [824, 1575], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1575, 2208], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2208, 3309], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3309, 4485], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4485, 5016], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5016, 5248], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5248, 6017], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6017, 6447], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6447, 6898], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6898, 7249], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7249, 7543], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7543, 7791], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1575], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1575, 3309], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3309, 4485], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4485, 5248], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5248, 6447], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6447, 7249], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7249, 7543], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7543, 7791], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450950.json b/annotations/task-0045/episode_00450950.json new file mode 100644 index 0000000000000000000000000000000000000000..d8565661f4b786c9fa046a21e21853dce26768b3 --- /dev/null +++ b/annotations/task-0045/episode_00450950.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8532, + "valid_duration": [21, 8553] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [21, 730], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [734, 1667], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1668, 2540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2540, 3701], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3701, 4871], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4871, 5495], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5499, 5733], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5734, 6653], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6659, 7138], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7147, 7633], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7633, 8010], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8010, 8288], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8288, 8553], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [21, 1667], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1668, 3701], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3701, 4871], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4871, 5733], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5734, 7138], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7147, 8010], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8010, 8288], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8288, 8553], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450960.json b/annotations/task-0045/episode_00450960.json new file mode 100644 index 0000000000000000000000000000000000000000..e244165c25c47664a5d636d0b7252deebdb2b7c5 --- /dev/null +++ b/annotations/task-0045/episode_00450960.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7775, + "valid_duration": [0, 7775] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 857], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [858, 1723], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1723, 2376], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2376, 3510], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3510, 4445], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4445, 5007], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5007, 5194], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5194, 6227], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6227, 6636], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6636, 7004], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7004, 7335], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7335, 7531], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7531, 7775], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1723], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1723, 3510], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3510, 4445], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4445, 5194], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5194, 6636], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6636, 7335], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7335, 7531], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7531, 7775], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450970.json b/annotations/task-0045/episode_00450970.json new file mode 100644 index 0000000000000000000000000000000000000000..e576782259305b818b00ab6abac6c79bf96f0b0f --- /dev/null +++ b/annotations/task-0045/episode_00450970.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8235, + "valid_duration": [45, 8280] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 835], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [835, 1758], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1758, 2484], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2484, 3108], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3108, 4530], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelker_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4530, 5208], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5208, 5517], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5517, 6381], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6381, 6855], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6855, 7329], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7329, 7740], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7740, 8021], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8022, 8280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 1758], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [1758, 3108], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3108, 4530], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4530, 5517], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5517, 6855], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6855, 7740], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7740, 8021], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8022, 8280], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450980.json b/annotations/task-0045/episode_00450980.json new file mode 100644 index 0000000000000000000000000000000000000000..2378426abfea34292db1f89f7985f8183f563082 --- /dev/null +++ b/annotations/task-0045/episode_00450980.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8677, + "valid_duration": [0, 8677] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 877], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [877, 1798], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1798, 2350], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2350, 3480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3480, 4629], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4629, 5263], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5263, 5574], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5574, 6713], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6713, 7307], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7307, 7771], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7771, 8205], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8205, 8468], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8468, 8677], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1798], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1798, 3480], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3480, 4629], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4629, 5574], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5574, 7307], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7307, 8205], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8205, 8468], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8468, 8677], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00450990.json b/annotations/task-0045/episode_00450990.json new file mode 100644 index 0000000000000000000000000000000000000000..751f69d80b91ed6fa48ff6d9865f326881ca41cc --- /dev/null +++ b/annotations/task-0045/episode_00450990.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7655, + "valid_duration": [1, 7656] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1, 804], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [804, 1685], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1685, 2370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2370, 3423], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3423, 4417], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4417, 5007], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5007, 5230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5230, 6012], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6012, 6458], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6458, 6852], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6852, 7203], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7204, 7420], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7420, 7656], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1, 1685], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1685, 3423], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3423, 4417], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4417, 5230], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5230, 6458], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6458, 7203], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7204, 7420], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7420, 7656], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451000.json b/annotations/task-0045/episode_00451000.json new file mode 100644 index 0000000000000000000000000000000000000000..c829171ae8824e34a88823cb02ce346b2e9afabf --- /dev/null +++ b/annotations/task-0045/episode_00451000.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8349, + "valid_duration": [0, 8349] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 863], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [863, 1680], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1680, 2307], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2307, 3654], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3654, 4688], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4689, 5309], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5309, 5611], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5611, 6510], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "floors_kxcpgy_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6510, 7010], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7011, 7509], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7509, 7936], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7936, 8134], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8134, 8349], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1680], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1680, 3654], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3654, 4688], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4689, 5611], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "floors_kxcpgy_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5611, 7010], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7011, 7936], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7936, 8134], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8134, 8349], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451010.json b/annotations/task-0045/episode_00451010.json new file mode 100644 index 0000000000000000000000000000000000000000..94b5ffc0655259e27269ae1934d787cfe519b46b --- /dev/null +++ b/annotations/task-0045/episode_00451010.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 13309, + "valid_duration": [0, 13309] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 898], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [898, 2974], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2974, 4386], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [4386, 5995], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5995, 7535], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7535, 8470], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8471, 8806], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8809, 10428], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10431, 11014], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11014, 11623], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11623, 12204], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12204, 12565], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12565, 13309], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2974], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [2974, 5995], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5995, 7535], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7535, 8806], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8809, 11014], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [11014, 12204], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12204, 12565], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12565, 13309], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451030.json b/annotations/task-0045/episode_00451030.json new file mode 100644 index 0000000000000000000000000000000000000000..6b87f38e36afad193cf8d2c8d524c49fd4605589 --- /dev/null +++ b/annotations/task-0045/episode_00451030.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 13185, + "valid_duration": [0, 13185] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 715], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [715, 2562], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2562, 4078], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4078, 5375], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5375, 6798], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6798, 7958], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7958, 8578], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8579, 9804], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9804, 10521], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10522, 11034], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11034, 11856], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11856, 12307], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12307, 13185], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2562], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [2562, 5375], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5375, 6798], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6798, 8578], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8579, 10521], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [10522, 11856], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11856, 12307], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12307, 13185], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451040.json b/annotations/task-0045/episode_00451040.json new file mode 100644 index 0000000000000000000000000000000000000000..f3178f655cd434c5bbe0afc5d5408eb365fb691d --- /dev/null +++ b/annotations/task-0045/episode_00451040.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7984, + "valid_duration": [30, 8014] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 630], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [630, 1299], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1299, 2070], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2070, 3155], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3155, 4321], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4322, 4863], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4863, 5212], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5213, 6105], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6105, 6602], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6603, 6971], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6974, 7415], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7418, 7706], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7707, 8014], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1299], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1299, 3155], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3155, 4321], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4322, 5212], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5213, 6602], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6603, 7415], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7418, 7706], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7707, 8014], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451070.json b/annotations/task-0045/episode_00451070.json new file mode 100644 index 0000000000000000000000000000000000000000..6737ea06d901e58001735b68e9b165c00f9e732a --- /dev/null +++ b/annotations/task-0045/episode_00451070.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9171, + "valid_duration": [39, 9210] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 882], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [882, 2054], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2054, 3078], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3081, 3847], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3847, 4743], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4743, 5420], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5420, 5816], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5816, 6691], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6692, 7232], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7233, 7906], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7906, 8436], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8436, 8810], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8811, 9210], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 2054], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [2054, 3847], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3847, 4743], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4743, 5816], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5816, 7232], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7233, 8436], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8436, 8810], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8811, 9210], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451080.json b/annotations/task-0045/episode_00451080.json new file mode 100644 index 0000000000000000000000000000000000000000..5f106b75163d7c1b9088ecad90b19ada9bf9ab84 --- /dev/null +++ b/annotations/task-0045/episode_00451080.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9827, + "valid_duration": [99, 9926] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [99, 828], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [828, 2007], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2007, 2886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2886, 4294], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4294, 5465], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5465, 6117], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6117, 6496], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6496, 7476], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7476, 7916], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7916, 8621], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8621, 9238], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9238, 9564], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9564, 9926], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [99, 2007], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [2007, 4294], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4294, 5465], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5465, 6496], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6496, 7916], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7916, 9238], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9238, 9564], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9564, 9926], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451090.json b/annotations/task-0045/episode_00451090.json new file mode 100644 index 0000000000000000000000000000000000000000..195c7ffc7e2bcd6785d2f68d758943deeefdf41e --- /dev/null +++ b/annotations/task-0045/episode_00451090.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 15164, + "valid_duration": [0, 15164] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 861], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [867, 3130], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3130, 4409], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [4409, 5697], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5697, 7734], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7734, 9079], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9079, 9420], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9420, 11576], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11576, 12333], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [12333, 13089], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13089, 13998], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13998, 14403], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14403, 15164], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 3130], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [3130, 5697], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5697, 7734], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7734, 9420], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9420, 12333], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [12333, 13998], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13998, 14403], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14403, 15164], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451100.json b/annotations/task-0045/episode_00451100.json new file mode 100644 index 0000000000000000000000000000000000000000..8fd0587d948d0a6b46902aaf24712a663b203e86 --- /dev/null +++ b/annotations/task-0045/episode_00451100.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 13653, + "valid_duration": [60, 13713] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1493], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1493, 3872], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3872, 5341], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [5341, 6127], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6127, 7493], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7493, 8619], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8619, 8977], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8977, 10537], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10537, 11338], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11338, 12119], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12119, 12710], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12710, 13123], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13123, 13713], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 3872], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [3872, 6127], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6127, 7493], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7493, 8977], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8977, 11338], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [11338, 12710], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12710, 13123], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13123, 13713], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451120.json b/annotations/task-0045/episode_00451120.json new file mode 100644 index 0000000000000000000000000000000000000000..f2f6b26eaabc1603a91c0014565e2168d8fb61c1 --- /dev/null +++ b/annotations/task-0045/episode_00451120.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 11813, + "valid_duration": [120, 11933] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [120, 1012], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1012, 2535], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2535, 3553], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3553, 4658], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4658, 6108], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6108, 7688], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7688, 8019], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8019, 9522], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9522, 10279], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10279, 10853], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10853, 11292], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11292, 11460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11460, 11933], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [120, 2535], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [2535, 4658], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4658, 6108], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6108, 8019], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8019, 10279], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [10279, 11292], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11292, 11460], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11460, 11933], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451160.json b/annotations/task-0045/episode_00451160.json new file mode 100644 index 0000000000000000000000000000000000000000..396b1b349757772e90ade74ce059db76e04420ce --- /dev/null +++ b/annotations/task-0045/episode_00451160.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7829, + "valid_duration": [39, 7868] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 456], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [457, 1438], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1438, 2261], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2262, 3045], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3045, 3801], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3801, 4393], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4393, 4636], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4636, 5607], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5608, 6240], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6240, 6779], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6779, 7264], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7264, 7512], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7512, 7868], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [39, 1438], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [1438, 3045], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3045, 3801], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3801, 4636], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4636, 6240], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6240, 7264], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7264, 7512], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7512, 7868], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451170.json b/annotations/task-0045/episode_00451170.json new file mode 100644 index 0000000000000000000000000000000000000000..b90283ca36149fa575ffacf48f7a30d7007d468c --- /dev/null +++ b/annotations/task-0045/episode_00451170.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 13830, + "valid_duration": [60, 13890] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 840], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [840, 3240], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3270, 4726], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4727, 5484], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5484, 7123], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7123, 8654], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8654, 9084], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9084, 11152], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11152, 11910], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11910, 12551], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12551, 13074], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13075, 13410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13410, 13890], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 3240], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [3270, 5484], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5484, 7123], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7123, 9084], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9084, 11910], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [11910, 13074], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13075, 13410], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13410, 13890], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451180.json b/annotations/task-0045/episode_00451180.json new file mode 100644 index 0000000000000000000000000000000000000000..0eb27258cec17e0539733184c189478843b42c29 --- /dev/null +++ b/annotations/task-0045/episode_00451180.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 13174, + "valid_duration": [97, 13271] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [97, 559], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [559, 3007], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3008, 4215], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [4215, 5545], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5545, 7066], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7066, 8423], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8423, 8817], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8817, 10268], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10268, 11082], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11082, 11670], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11670, 12184], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12185, 12630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12630, 13271], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [97, 3007], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [3008, 5545], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5545, 7066], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7066, 8817], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8817, 11082], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [11082, 12184], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12185, 12630], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12630, 13271], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451190.json b/annotations/task-0045/episode_00451190.json new file mode 100644 index 0000000000000000000000000000000000000000..ba334750b860dd5dd993136df612d280272695a9 --- /dev/null +++ b/annotations/task-0045/episode_00451190.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 22138, + "valid_duration": [62, 22200] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [62, 1515], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1519, 3798], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3798, 5879], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [5879, 7601], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7601, 10627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10627, 12641], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12641, 13427], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13427, 16403], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [16403, 17659], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [17659, 19388], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [19389, 20458], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [20459, 21300], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [21450, 22200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [62, 3798], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [3798, 7601], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7601, 10627], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10627, 13427], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13427, 17659], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [17659, 20458], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [20459, 21300], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [21450, 22200], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451200.json b/annotations/task-0045/episode_00451200.json new file mode 100644 index 0000000000000000000000000000000000000000..6feb3b7662d59452c246bb105c66d5e1c6c98b8e --- /dev/null +++ b/annotations/task-0045/episode_00451200.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9100, + "valid_duration": [0, 9100] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 159], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [159, 1626], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1626, 2528], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2531, 3289], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3289, 4346], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4346, 5098], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5098, 5581], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5581, 6525], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6525, 7021], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7021, 7736], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7736, 8445], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8445, 8789], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8789, 9100], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1626], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [1626, 3289], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3289, 4346], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4346, 5581], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5581, 7021], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7021, 8445], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8445, 8789], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8789, 9100], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451220.json b/annotations/task-0045/episode_00451220.json new file mode 100644 index 0000000000000000000000000000000000000000..20b784d86a429da79b44c373f684336b7fda27b7 --- /dev/null +++ b/annotations/task-0045/episode_00451220.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 12534, + "valid_duration": [66, 12600] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [66, 1408], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1408, 3090], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3090, 4351], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [4351, 5476], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5476, 7069], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7069, 8186], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8186, 8636], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8636, 10063], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10063, 10693], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10693, 11266], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11266, 11866], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11866, 12136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12136, 12600], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [66, 3090], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [3090, 5476], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5476, 7069], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7069, 8636], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8636, 10693], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [10693, 11866], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11866, 12136], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12136, 12600], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451250.json b/annotations/task-0045/episode_00451250.json new file mode 100644 index 0000000000000000000000000000000000000000..5465d30d6016ac8ce05ea59d16e81939face8e17 --- /dev/null +++ b/annotations/task-0045/episode_00451250.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 14997, + "valid_duration": [75, 15072] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [75, 1576], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1576, 4391], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4392, 5703], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [5703, 6883], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6883, 8830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8830, 10306], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10306, 10685], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10685, 12402], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12402, 13148], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [13148, 13849], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13850, 14328], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14328, 14562], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14562, 15072], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [75, 4391], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [4392, 6883], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6883, 8830], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8830, 10685], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10685, 13148], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [13148, 14328], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14328, 14562], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14562, 15072], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451280.json b/annotations/task-0045/episode_00451280.json new file mode 100644 index 0000000000000000000000000000000000000000..37b7f18433b4549e41486967f99d8c28d87c9b39 --- /dev/null +++ b/annotations/task-0045/episode_00451280.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 13848, + "valid_duration": [69, 13917] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [69, 1327], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1327, 3726], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3726, 5050], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [5050, 6420], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6420, 7935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7935, 9137], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9137, 9519], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9520, 11259], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11259, 11896], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11896, 12594], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12594, 13166], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13166, 13471], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13471, 13917], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [69, 3726], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [3726, 6420], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6420, 7935], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7935, 9519], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9520, 11896], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [11896, 13166], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13166, 13471], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13471, 13917], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451290.json b/annotations/task-0045/episode_00451290.json new file mode 100644 index 0000000000000000000000000000000000000000..af324908690e4414cc0e81879527f9015e2ae97d --- /dev/null +++ b/annotations/task-0045/episode_00451290.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9727, + "valid_duration": [0, 9727] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 999], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [999, 2316], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2316, 2986], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2986, 3790], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3790, 4962], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4962, 5579], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5609, 6018], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6018, 7138], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7138, 7668], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7668, 8338], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8338, 8951], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8951, 9232], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9232, 9727], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2316], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [2316, 3790], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3790, 4962], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4962, 6018], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6018, 7668], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7668, 8951], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8951, 9232], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9232, 9727], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451300.json b/annotations/task-0045/episode_00451300.json new file mode 100644 index 0000000000000000000000000000000000000000..4d3f40d82a719448fd154b0b04c867ec261724a6 --- /dev/null +++ b/annotations/task-0045/episode_00451300.json @@ -0,0 +1,233 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9552, + "valid_duration": [30, 9582] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 780], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [780, 2110], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2110, 3474], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3477, 4185], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4185, 5022], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5052, 5599], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5599, 6782], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6782, 7280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7280, 8028], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8028, 8718], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8718, 9177], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9177, 9582], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2110], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "high_level"]]], + "frame_duration": [2110, 4185], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4185, 5599], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5599, 7280], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7280, 8718], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8718, 9177], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9177, 9582], + "skill_idxes": [11] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451330.json b/annotations/task-0045/episode_00451330.json new file mode 100644 index 0000000000000000000000000000000000000000..e497ca47839c2d4600ea5ef6655535bb6ce360f5 --- /dev/null +++ b/annotations/task-0045/episode_00451330.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9357, + "valid_duration": [0, 9357] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 871], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [872, 2121], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2121, 2691], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2694, 3696], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3696, 4637], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4637, 5401], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5431, 5971], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5971, 7002], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7002, 7537], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7537, 8127], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8127, 8658], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8659, 8991], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8991, 9357], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2121], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [2121, 3696], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3696, 4637], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4637, 5971], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5971, 7537], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7537, 8658], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8659, 8991], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8991, 9357], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451340.json b/annotations/task-0045/episode_00451340.json new file mode 100644 index 0000000000000000000000000000000000000000..61249fcc6b6b0471e131f3a940d6064b816b5a12 --- /dev/null +++ b/annotations/task-0045/episode_00451340.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10242, + "valid_duration": [0, 10242] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 345], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [345, 1680], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1680, 2877], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2877, 4443], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4443, 5534], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5534, 6291], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6291, 6785], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6785, 7843], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7843, 8233], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8233, 8812], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8812, 9630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9630, 9923], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9923, 10242], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1680], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1680, 4443], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4443, 5534], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5534, 6785], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6785, 8233], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8233, 9630], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9630, 9923], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9923, 10242], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451350.json b/annotations/task-0045/episode_00451350.json new file mode 100644 index 0000000000000000000000000000000000000000..025f5672eb17375b176f21ea78e0fb75e264b2e2 --- /dev/null +++ b/annotations/task-0045/episode_00451350.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9629, + "valid_duration": [0, 9629] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 590], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [590, 1889], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1889, 2839], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2839, 3634], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3634, 4705], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4705, 5558], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5558, 6085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6085, 7035], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7035, 7545], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7545, 8286], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8286, 8953], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8953, 9270], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9270, 9629], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1889], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [1889, 3634], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3634, 4705], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4705, 6085], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6085, 7545], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7545, 8953], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8953, 9270], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9270, 9629], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451360.json b/annotations/task-0045/episode_00451360.json new file mode 100644 index 0000000000000000000000000000000000000000..5a6a914e931f28909d677e131ddb0e26db7551e1 --- /dev/null +++ b/annotations/task-0045/episode_00451360.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8941, + "valid_duration": [66, 9007] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [66, 876], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [876, 2064], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2064, 2907], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2907, 3494], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3494, 4323], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4323, 5100], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5100, 5532], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5532, 6538], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6538, 7080], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7080, 7596], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7596, 8337], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8337, 8658], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8658, 9007], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [66, 2064], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [2064, 3494], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3494, 4323], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4323, 5532], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5532, 7080], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7080, 8337], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8337, 8658], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8658, 9007], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451370.json b/annotations/task-0045/episode_00451370.json new file mode 100644 index 0000000000000000000000000000000000000000..0ae2f187820c60de83f63ce8fca49a7e33ee19ff --- /dev/null +++ b/annotations/task-0045/episode_00451370.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9696, + "valid_duration": [0, 9696] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 873], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [873, 2272], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2272, 3064], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3064, 4076], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4076, 5138], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5138, 5889], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5889, 6297], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6297, 7278], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7278, 7711], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7711, 8272], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8272, 8829], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8829, 9130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9130, 9696], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2272], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [2272, 4076], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4076, 5138], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5138, 6297], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6297, 7711], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7711, 8829], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8829, 9130], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9130, 9696], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451400.json b/annotations/task-0045/episode_00451400.json new file mode 100644 index 0000000000000000000000000000000000000000..9ba2519246f44b112f473a398e46c1bc5065f96d --- /dev/null +++ b/annotations/task-0045/episode_00451400.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9545, + "valid_duration": [0, 9545] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 636], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [636, 1578], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1578, 2793], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2793, 3391], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3391, 4379], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4379, 5354], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5354, 5685], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5685, 6886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6886, 7437], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7437, 8116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8116, 8867], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8867, 9182], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9182, 9545], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1578], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [1578, 3391], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3391, 4379], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4379, 5685], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5685, 7437], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7437, 8867], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8867, 9182], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9182, 9545], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451430.json b/annotations/task-0045/episode_00451430.json new file mode 100644 index 0000000000000000000000000000000000000000..1db3a15a455397ddfda902a5de98a16f71028659 --- /dev/null +++ b/annotations/task-0045/episode_00451430.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9136, + "valid_duration": [0, 9136] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 876], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [876, 2143], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2143, 3123], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3123, 3820], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3820, 4540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4540, 5163], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5163, 5648], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5648, 6660], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6660, 7105], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7105, 7825], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7825, 8361], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8361, 8709], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8709, 9136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2143], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [2143, 3820], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3820, 4540], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4540, 5648], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5648, 7105], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7105, 8361], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8361, 8709], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8709, 9136], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451460.json b/annotations/task-0045/episode_00451460.json new file mode 100644 index 0000000000000000000000000000000000000000..ea9a7e014cb7a8865d597f117b8db8bf8b4d1222 --- /dev/null +++ b/annotations/task-0045/episode_00451460.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9102, + "valid_duration": [0, 9102] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 675], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [675, 1900], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1900, 2796], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2796, 3669], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3669, 4629], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4630, 5347], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5347, 5807], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5807, 6728], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6728, 7201], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7201, 7864], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7864, 8413], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8413, 8770], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8770, 9102], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1900], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [1900, 3669], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3669, 4629], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4630, 5807], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5807, 7201], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7201, 8413], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8413, 8770], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8770, 9102], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451490.json b/annotations/task-0045/episode_00451490.json new file mode 100644 index 0000000000000000000000000000000000000000..21a2e6e7a57bf815fd7bc892557073d6847e8c9d --- /dev/null +++ b/annotations/task-0045/episode_00451490.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10811, + "valid_duration": [60, 10871] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1170], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1170, 2409], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2409, 3502], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3502, 4509], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4510, 5440], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5440, 6304], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6304, 6836], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6836, 7798], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7798, 8463], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8463, 9218], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9219, 9988], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9989, 10391], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10391, 10871], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 2409], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [2409, 4509], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4510, 5440], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5440, 6836], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6836, 8463], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8463, 9988], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9989, 10391], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10391, 10871], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451500.json b/annotations/task-0045/episode_00451500.json new file mode 100644 index 0000000000000000000000000000000000000000..b59fd78682e1b306ee2e578f0a16cd40f18a8953 --- /dev/null +++ b/annotations/task-0045/episode_00451500.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9471, + "valid_duration": [30, 9501] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1140], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1140, 2358], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2358, 3352], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3352, 4276], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4276, 5081], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5081, 5801], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5801, 6283], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6283, 7166], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7166, 7740], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7740, 8254], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8254, 8886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8886, 9156], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9156, 9501], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2358], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]]], + "frame_duration": [2358, 4276], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4276, 5081], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5081, 6283], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6283, 7740], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7740, 8886], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8886, 9156], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9156, 9501], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451530.json b/annotations/task-0045/episode_00451530.json new file mode 100644 index 0000000000000000000000000000000000000000..d5f3cc19ffb252aca190dbc3503cf077c6f6978c --- /dev/null +++ b/annotations/task-0045/episode_00451530.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8791, + "valid_duration": [0, 8791] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 650], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [650, 1726], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1726, 2340], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2340, 3075], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3075, 4035], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4035, 4863], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4863, 5329], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5329, 6275], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6275, 6665], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6665, 7254], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7255, 7995], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7996, 8405], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8405, 8791], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1726], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [1726, 3075], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3075, 4035], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4035, 5329], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5329, 6665], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6665, 7995], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7996, 8405], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8405, 8791], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451540.json b/annotations/task-0045/episode_00451540.json new file mode 100644 index 0000000000000000000000000000000000000000..4c9e53c52f618d6bba13a94af0d559ec59694e16 --- /dev/null +++ b/annotations/task-0045/episode_00451540.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8851, + "valid_duration": [0, 8851] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 604], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [605, 1734], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1734, 2890], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2890, 3458], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3458, 4374], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4374, 5167], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5168, 5552], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5553, 6369], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6369, 6990], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6990, 7610], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7610, 8144], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8144, 8537], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8537, 8851], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1734], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]]], + "frame_duration": [1734, 3458], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3458, 4374], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4374, 5552], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5553, 6990], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6990, 8144], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8144, 8537], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8537, 8851], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451590.json b/annotations/task-0045/episode_00451590.json new file mode 100644 index 0000000000000000000000000000000000000000..eaa6d5c8b00325eddf862a3eecac173413faf61e --- /dev/null +++ b/annotations/task-0045/episode_00451590.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7590, + "valid_duration": [0, 7590] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 537], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [537, 1353], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1353, 1839], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1839, 2730], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2730, 3930], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3930, 4482], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4482, 4662], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4662, 5712], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5712, 6108], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6108, 6663], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6663, 7002], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7002, 7293], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7293, 7590], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1353], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1353, 2730], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2730, 3930], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3930, 4662], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4662, 6108], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6108, 7002], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7002, 7293], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7293, 7590], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451620.json b/annotations/task-0045/episode_00451620.json new file mode 100644 index 0000000000000000000000000000000000000000..b92f62a752803aa17804ebafb88014faff78cc2b --- /dev/null +++ b/annotations/task-0045/episode_00451620.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8962, + "valid_duration": [0, 8962] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 513], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [513, 1757], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1757, 2466], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2466, 3584], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3584, 4501], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4501, 5211], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5211, 5750], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5750, 6668], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6668, 7102], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7103, 7611], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7611, 8292], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8292, 8679], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8679, 8962], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1757], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1757, 3584], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3584, 4501], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4501, 5750], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5750, 7102], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7103, 8292], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8292, 8679], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8679, 8962], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451630.json b/annotations/task-0045/episode_00451630.json new file mode 100644 index 0000000000000000000000000000000000000000..326de88a8d2608dfe6e5bc31165e68c5f402050a --- /dev/null +++ b/annotations/task-0045/episode_00451630.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9720, + "valid_duration": [0, 9720] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 996], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [996, 2112], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2112, 3121], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3121, 4089], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4089, 5196], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5196, 5971], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5972, 6393], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6393, 7252], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7255, 7602], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7602, 8205], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8205, 9005], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9005, 9320], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9321, 9720], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2112], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "high_level"]]], + "frame_duration": [2112, 4089], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4089, 5196], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5196, 6393], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6393, 7602], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7602, 9005], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9005, 9320], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9321, 9720], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451760.json b/annotations/task-0045/episode_00451760.json new file mode 100644 index 0000000000000000000000000000000000000000..5171de1052ace8b7b45c0f09ce4faf72a0da00c9 --- /dev/null +++ b/annotations/task-0045/episode_00451760.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8657, + "valid_duration": [0, 8657] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 930], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [930, 2006], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2006, 2742], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2742, 3417], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3417, 4278], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4278, 5103], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5103, 5572], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5572, 6438], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6438, 6830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6830, 7491], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7491, 7911], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7911, 8197], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8197, 8657], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2006], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [2006, 3417], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3417, 4278], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4278, 5572], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5572, 6830], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6830, 7911], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7911, 8197], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8197, 8657], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451770.json b/annotations/task-0045/episode_00451770.json new file mode 100644 index 0000000000000000000000000000000000000000..296babd1c72a5b968a4627c0bd9813efb9152b2f --- /dev/null +++ b/annotations/task-0045/episode_00451770.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9420, + "valid_duration": [30, 9450] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 868], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [868, 2073], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2073, 2579], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2579, 3698], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3698, 4736], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4736, 5610], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5610, 6096], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6096, 7096], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7096, 7455], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7455, 8073], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8073, 8731], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8731, 9116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9117, 9450], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2073], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [2073, 3698], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3698, 4736], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4736, 6096], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6096, 7455], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7455, 8731], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8731, 9116], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9117, 9450], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451790.json b/annotations/task-0045/episode_00451790.json new file mode 100644 index 0000000000000000000000000000000000000000..698f65641c17bb710c82745a7da3d97ba333dd2c --- /dev/null +++ b/annotations/task-0045/episode_00451790.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7610, + "valid_duration": [0, 7610] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 539], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [539, 1442], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1442, 1954], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1954, 2729], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2729, 4035], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4035, 4526], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4526, 4830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4830, 5700], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5700, 6174], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6175, 6645], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6645, 7010], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7010, 7348], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7348, 7610], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1442], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1442, 2729], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2729, 4035], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4035, 4830], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4830, 6174], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6175, 7010], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7010, 7348], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7348, 7610], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451810.json b/annotations/task-0045/episode_00451810.json new file mode 100644 index 0000000000000000000000000000000000000000..e9f3e499174db958c72fd1caacfb667a291d7225 --- /dev/null +++ b/annotations/task-0045/episode_00451810.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8153, + "valid_duration": [0, 8153] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 413], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [413, 1339], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1339, 1962], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1962, 2949], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2949, 4296], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4297, 4814], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4814, 5034], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5035, 5933], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5933, 6443], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6449, 7050], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7059, 7567], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7597, 7815], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7821, 8153], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1339], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1339, 2949], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2949, 4296], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4297, 5034], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5035, 6443], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6449, 7567], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7597, 7815], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7821, 8153], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451820.json b/annotations/task-0045/episode_00451820.json new file mode 100644 index 0000000000000000000000000000000000000000..b17083f0da2fbb3cf544c3abdf590d5a966601de --- /dev/null +++ b/annotations/task-0045/episode_00451820.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9996, + "valid_duration": [30, 10026] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 892], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [893, 2241], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2316, 3624], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3625, 4589], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4589, 5589], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5589, 6401], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6401, 6897], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6897, 7851], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7851, 8291], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8291, 8749], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8749, 9336], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9336, 9725], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9726, 10026], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2241], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]]], + "frame_duration": [2316, 4589], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4589, 5589], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5589, 6897], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6897, 8291], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8291, 9336], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9336, 9725], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9726, 10026], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451860.json b/annotations/task-0045/episode_00451860.json new file mode 100644 index 0000000000000000000000000000000000000000..0a2e1b1ab6e60667f864bdb0d0717bda08ee64c0 --- /dev/null +++ b/annotations/task-0045/episode_00451860.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8509, + "valid_duration": [0, 8509] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 885], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [885, 2012], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2012, 2772], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2772, 3346], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3346, 4228], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4228, 4917], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4917, 5464], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5464, 6296], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6296, 6765], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6765, 7329], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7329, 7956], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7956, 8196], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8196, 8509], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2012], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [2012, 3346], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3346, 4228], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4228, 5464], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5464, 6765], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6765, 7956], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7956, 8196], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8196, 8509], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451870.json b/annotations/task-0045/episode_00451870.json new file mode 100644 index 0000000000000000000000000000000000000000..cfa6e0734c3ea7be140f5ce69d8e91f6abbd3011 --- /dev/null +++ b/annotations/task-0045/episode_00451870.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 12573, + "valid_duration": [180, 12753] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [180, 1530], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1531, 3186], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3186, 4692], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [4692, 5530], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5530, 7255], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7255, 8354], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8354, 8686], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8687, 10054], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10054, 10806], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10806, 11395], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11395, 11920], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11920, 12282], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12283, 12753], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [180, 3186], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [3186, 5530], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5530, 7255], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7255, 8686], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8687, 10806], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [10806, 11920], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11920, 12282], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12283, 12753], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451900.json b/annotations/task-0045/episode_00451900.json new file mode 100644 index 0000000000000000000000000000000000000000..ae3d12ef389a7e910c0cef4e35362d44ee87836b --- /dev/null +++ b/annotations/task-0045/episode_00451900.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8837, + "valid_duration": [0, 8837] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 928], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [928, 2219], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2219, 2943], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2943, 3754], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3754, 4540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4540, 5351], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5351, 5807], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5808, 6516], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6516, 6901], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6901, 7365], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7366, 8187], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8187, 8538], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8538, 8837], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2219], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [2219, 3754], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3754, 4540], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4540, 5807], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5808, 6901], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6901, 8187], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8187, 8538], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8538, 8837], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451920.json b/annotations/task-0045/episode_00451920.json new file mode 100644 index 0000000000000000000000000000000000000000..8f0719bcbd7e918f12c3a82ab85e79d6273f5495 --- /dev/null +++ b/annotations/task-0045/episode_00451920.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8785, + "valid_duration": [0, 8785] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 630], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [630, 2038], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2038, 2657], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2657, 3506], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3506, 4392], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4392, 5157], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5157, 5796], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5796, 6704], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6704, 7102], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7102, 7568], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7568, 8150], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8150, 8473], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8473, 8785], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2038], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [2038, 3506], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3506, 4392], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4392, 5796], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5796, 7102], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7102, 8150], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8150, 8473], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8473, 8785], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451930.json b/annotations/task-0045/episode_00451930.json new file mode 100644 index 0000000000000000000000000000000000000000..326e3868f01f43f105d6f710e3c6471f7871bc2e --- /dev/null +++ b/annotations/task-0045/episode_00451930.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9013, + "valid_duration": [0, 9013] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 805], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [805, 1868], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1868, 2714], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2714, 3648], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3648, 4744], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4744, 5477], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5477, 5922], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5922, 6767], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6767, 7201], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7201, 7765], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7765, 8379], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8379, 8651], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8651, 9013], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1868], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1868, 3648], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3648, 4744], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4744, 5922], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5922, 7201], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7201, 8379], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8379, 8651], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8651, 9013], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00451990.json b/annotations/task-0045/episode_00451990.json new file mode 100644 index 0000000000000000000000000000000000000000..c5adaa243bd439f12b7b87e201788d27bb211f7c --- /dev/null +++ b/annotations/task-0045/episode_00451990.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8547, + "valid_duration": [0, 8547] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 630], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [630, 1856], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1856, 2432], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2432, 3259], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3259, 4314], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4314, 5105], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5105, 5580], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5580, 6480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6483, 6819], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6819, 7328], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7328, 7908], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7908, 8222], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8237, 8547], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1856], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1856, 3259], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3259, 4314], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4314, 5580], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5580, 6819], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6819, 7908], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7908, 8222], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8237, 8547], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452010.json b/annotations/task-0045/episode_00452010.json new file mode 100644 index 0000000000000000000000000000000000000000..96cb5ad18e05590ef6b1c3ec12336b8757ac9b47 --- /dev/null +++ b/annotations/task-0045/episode_00452010.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10074, + "valid_duration": [0, 10074] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1128], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1128, 2436], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2439, 3232], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3232, 4038], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4038, 5075], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5075, 5883], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5913, 6411], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6411, 7524], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7524, 8095], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8095, 8886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8886, 9492], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9492, 9752], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9752, 10074], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2436], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [2439, 4038], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4038, 5075], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5075, 6411], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6411, 8095], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8095, 9492], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9492, 9752], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9752, 10074], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452030.json b/annotations/task-0045/episode_00452030.json new file mode 100644 index 0000000000000000000000000000000000000000..4f30089cfb687bc2d25b096fa838b7875ee60787 --- /dev/null +++ b/annotations/task-0045/episode_00452030.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8834, + "valid_duration": [0, 8834] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 522], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [522, 1770], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1770, 2794], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2794, 3499], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3499, 4352], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4352, 5034], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5034, 5398], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5399, 6269], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6269, 6887], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6887, 7598], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7598, 8158], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8158, 8414], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8440, 8834], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1770], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]]], + "frame_duration": [1770, 3499], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3499, 4352], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4352, 5398], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5399, 6887], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6887, 8158], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8158, 8414], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8440, 8834], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452040.json b/annotations/task-0045/episode_00452040.json new file mode 100644 index 0000000000000000000000000000000000000000..e9f54e5452999cccc5218652d42b78ec2689886e --- /dev/null +++ b/annotations/task-0045/episode_00452040.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10872, + "valid_duration": [30, 10902] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1095], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1095, 2490], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2490, 3912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3912, 4906], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4906, 6219], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6219, 7036], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7036, 7430], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7430, 8247], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8247, 8801], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8801, 9446], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9446, 10051], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10052, 10480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10480, 10902], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2490], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]]], + "frame_duration": [2490, 4906], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4906, 6219], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6219, 7430], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7430, 8801], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8801, 10051], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10052, 10480], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10480, 10902], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452050.json b/annotations/task-0045/episode_00452050.json new file mode 100644 index 0000000000000000000000000000000000000000..f6aeb00f73644fa28b09008063a1cac9eb897a5e --- /dev/null +++ b/annotations/task-0045/episode_00452050.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9681, + "valid_duration": [60, 9741] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 596], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [596, 1982], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1982, 2682], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2682, 3879], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3879, 4747], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4747, 5449], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5450, 5921], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5922, 7020], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7020, 7732], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7733, 8299], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8299, 8937], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8937, 9260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9260, 9741], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1982], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1982, 3879], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3879, 4747], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4747, 5921], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5922, 7732], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7733, 8937], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8937, 9260], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9260, 9741], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452060.json b/annotations/task-0045/episode_00452060.json new file mode 100644 index 0000000000000000000000000000000000000000..7b29b533b0c2b3030ffc8840f95c0bcbd8162d17 --- /dev/null +++ b/annotations/task-0045/episode_00452060.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10290, + "valid_duration": [0, 10290] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 696], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [696, 2032], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2032, 3127], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3127, 3760], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3760, 4979], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4979, 5963], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5963, 6330], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6330, 7687], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7687, 8163], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8163, 8717], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8717, 9534], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9534, 9907], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9907, 10290], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2032], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [2032, 3760], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3760, 4979], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4979, 6330], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6330, 8163], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8163, 9534], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9534, 9907], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9907, 10290], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452070.json b/annotations/task-0045/episode_00452070.json new file mode 100644 index 0000000000000000000000000000000000000000..f764b9c529a6fb59509417f7ff6295930df3b9a3 --- /dev/null +++ b/annotations/task-0045/episode_00452070.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10470, + "valid_duration": [30, 10500] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 963], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [963, 2027], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2027, 3082], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3083, 4230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4230, 5160], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5160, 6062], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6095, 6636], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6636, 7920], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7920, 8517], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8517, 9017], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9017, 9681], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9681, 10025], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10025, 10500], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2027], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [2027, 4230], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4230, 5160], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5160, 6636], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6636, 8517], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8517, 9681], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9681, 10025], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10025, 10500], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452080.json b/annotations/task-0045/episode_00452080.json new file mode 100644 index 0000000000000000000000000000000000000000..30a7edba8a0fd8a93371b4b3568e78dab2106f8b --- /dev/null +++ b/annotations/task-0045/episode_00452080.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9691, + "valid_duration": [34, 9725] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [34, 699], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [699, 1837], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1837, 2965], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2965, 4150], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4150, 5160], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5160, 5866], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5926, 6289], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6289, 7208], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7208, 7734], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7734, 8414], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8414, 9043], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9046, 9313], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9314, 9725], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [34, 1837], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1837, 4150], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4150, 5160], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5160, 6289], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6289, 7734], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7734, 9043], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9046, 9313], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9314, 9725], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452090.json b/annotations/task-0045/episode_00452090.json new file mode 100644 index 0000000000000000000000000000000000000000..437b17acd03c2639616b66456eedcbcca5b35b7a --- /dev/null +++ b/annotations/task-0045/episode_00452090.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10857, + "valid_duration": [60, 10917] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1020], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1020, 2101], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2101, 3195], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3195, 4314], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4314, 5487], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5487, 6466], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6466, 6884], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6884, 8010], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8010, 8600], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8600, 9288], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9288, 10152], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10152, 10470], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10470, 10917], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 2101], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]]], + "frame_duration": [2101, 4314], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4314, 5487], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5487, 6884], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6884, 8600], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8600, 10152], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10152, 10470], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10470, 10917], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452100.json b/annotations/task-0045/episode_00452100.json new file mode 100644 index 0000000000000000000000000000000000000000..0a609c67d87e1cf4281017930730aa68e918ac65 --- /dev/null +++ b/annotations/task-0045/episode_00452100.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10055, + "valid_duration": [0, 10055] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 798], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [798, 2175], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2175, 2868], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2868, 3891], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3891, 5042], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5042, 5812], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5812, 6273], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6276, 7297], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7297, 7837], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7837, 8598], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8598, 9283], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9284, 9652], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9652, 10055], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2175], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [2175, 3891], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3891, 5042], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5042, 6273], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6276, 7837], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7837, 9283], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9284, 9652], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9652, 10055], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452110.json b/annotations/task-0045/episode_00452110.json new file mode 100644 index 0000000000000000000000000000000000000000..e5b23cefba2408e7eaf6598ca64694c660105931 --- /dev/null +++ b/annotations/task-0045/episode_00452110.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10513, + "valid_duration": [58, 10571] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [58, 842], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [842, 1982], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1982, 3275], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3275, 4296], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4296, 5454], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5454, 6242], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6242, 6802], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6833, 7803], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7803, 8467], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8473, 9128], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9128, 9815], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9815, 10224], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10224, 10571], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [58, 1982], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1982, 4296], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4296, 5454], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5454, 6802], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6833, 8467], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8473, 9815], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9815, 10224], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10224, 10571], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452120.json b/annotations/task-0045/episode_00452120.json new file mode 100644 index 0000000000000000000000000000000000000000..6889e1686211f2a855fb7fd7d38e83ada4621525 --- /dev/null +++ b/annotations/task-0045/episode_00452120.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 11409, + "valid_duration": [0, 11409] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1054], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1055, 2262], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2262, 3846], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3846, 4997], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4997, 6069], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6069, 6956], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6956, 7380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7380, 8566], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8567, 9185], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "floors_kxcpgy_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9186, 9881], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9881, 10540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10540, 10926], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10926, 11409], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2262], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]]], + "frame_duration": [2262, 4997], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4997, 6069], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6069, 7380], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7380, 9185], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "floors_kxcpgy_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [9186, 10540], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10540, 10926], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10926, 11409], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452140.json b/annotations/task-0045/episode_00452140.json new file mode 100644 index 0000000000000000000000000000000000000000..a9c91271eb4cb6709e7e79a391c9a42c8ec34914 --- /dev/null +++ b/annotations/task-0045/episode_00452140.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9963, + "valid_duration": [45, 10008] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 963], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [963, 2055], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2055, 3096], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3096, 3877], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3878, 4912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4912, 5665], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5665, 6120], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6120, 7286], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7286, 7932], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7932, 8673], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8673, 9271], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9272, 9578], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9578, 10008], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 2055], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [2055, 3877], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3878, 4912], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4912, 6120], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6120, 7932], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7932, 9271], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9272, 9578], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9578, 10008], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452150.json b/annotations/task-0045/episode_00452150.json new file mode 100644 index 0000000000000000000000000000000000000000..ce8d79599f2a4123ae685316f7cd5b3fdf76da61 --- /dev/null +++ b/annotations/task-0045/episode_00452150.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8813, + "valid_duration": [0, 8813] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 876], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [876, 2116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2116, 2792], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2792, 3687], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3688, 4649], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4649, 5197], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5197, 5651], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5651, 6514], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6514, 6984], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6984, 7580], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7580, 8242], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8242, 8492], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8532, 8813], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2116], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [2116, 3687], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3688, 4649], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4649, 5651], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5651, 6984], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6984, 8242], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8242, 8492], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8532, 8813], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452170.json b/annotations/task-0045/episode_00452170.json new file mode 100644 index 0000000000000000000000000000000000000000..145d473795477fb7fba07c111673b66b0783cf02 --- /dev/null +++ b/annotations/task-0045/episode_00452170.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9254, + "valid_duration": [0, 9254] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 978], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [978, 2331], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2331, 3131], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3131, 4035], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4035, 4928], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4928, 5668], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5668, 6172], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6172, 7015], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7015, 7479], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7479, 8147], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8147, 8687], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8687, 8991], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8991, 9254], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2331], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "high_level"]]], + "frame_duration": [2331, 4035], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4035, 4928], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4928, 6172], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6172, 7479], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7479, 8687], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8687, 8991], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8991, 9254], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452180.json b/annotations/task-0045/episode_00452180.json new file mode 100644 index 0000000000000000000000000000000000000000..65b47704e81ff0e13c06f8d9e655f0239c185c30 --- /dev/null +++ b/annotations/task-0045/episode_00452180.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9891, + "valid_duration": [60, 9951] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 472], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [472, 1537], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1537, 2638], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2638, 3773], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3773, 5022], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5022, 5822], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5822, 6339], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6339, 7368], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7368, 7914], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7914, 8552], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8553, 9203], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9203, 9571], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9571, 9951], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1537], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1537, 3773], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3773, 5022], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5022, 6339], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6339, 7914], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7914, 9203], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9203, 9571], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9571, 9951], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452190.json b/annotations/task-0045/episode_00452190.json new file mode 100644 index 0000000000000000000000000000000000000000..cf694f743ad2d3e1572bd5698ba66eb8756b4319 --- /dev/null +++ b/annotations/task-0045/episode_00452190.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9585, + "valid_duration": [45, 9630] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 311], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [311, 1584], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1584, 2821], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2821, 3889], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3889, 5073], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5073, 5703], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5703, 6213], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6213, 7257], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7257, 7796], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7796, 8451], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8451, 8961], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8961, 9270], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9270, 9630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 1584], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1584, 3889], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3889, 5073], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5073, 6213], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6213, 7796], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7796, 8961], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8961, 9270], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9270, 9630], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452200.json b/annotations/task-0045/episode_00452200.json new file mode 100644 index 0000000000000000000000000000000000000000..b3da58709c3f5a57efa6be68968812098ae8400f --- /dev/null +++ b/annotations/task-0045/episode_00452200.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10230, + "valid_duration": [0, 10230] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1128], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1128, 2233], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2233, 3074], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3075, 3927], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3927, 5376], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5376, 6066], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6066, 6523], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6523, 7715], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7715, 8174], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8174, 8727], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8727, 9375], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9375, 9742], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9742, 10230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2233], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [2233, 3927], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3927, 5376], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5376, 6523], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6523, 8174], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8174, 9375], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9375, 9742], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9742, 10230], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452210.json b/annotations/task-0045/episode_00452210.json new file mode 100644 index 0000000000000000000000000000000000000000..1a2accc6e3f1b8a845d9b0ca067c3c1a886c8c65 --- /dev/null +++ b/annotations/task-0045/episode_00452210.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9115, + "valid_duration": [91, 9206] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [91, 467], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [467, 1734], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1734, 2920], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2920, 3526], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3526, 4537], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4537, 5298], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5298, 5767], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5767, 6773], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6774, 7342], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7342, 7907], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7907, 8400], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8401, 8772], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8772, 9206], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [91, 1734], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [1734, 3526], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3526, 4537], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4537, 5767], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5767, 7342], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7342, 8400], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8401, 8772], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8772, 9206], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452220.json b/annotations/task-0045/episode_00452220.json new file mode 100644 index 0000000000000000000000000000000000000000..e77b05f641b939ad901d314865d9236c68f78723 --- /dev/null +++ b/annotations/task-0045/episode_00452220.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8704, + "valid_duration": [30, 8734] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 97], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [97, 1108], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1108, 2049], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2049, 3209], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3209, 4315], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4315, 5121], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5121, 5517], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5517, 6446], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6446, 7138], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7138, 7627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7627, 8147], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8147, 8402], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8402, 8734], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1108], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1108, 3209], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3209, 4315], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4315, 5517], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5517, 7138], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7138, 8147], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8147, 8402], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8402, 8734], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452240.json b/annotations/task-0045/episode_00452240.json new file mode 100644 index 0000000000000000000000000000000000000000..f636ba10443a372c74be4b94a992633a84192ba9 --- /dev/null +++ b/annotations/task-0045/episode_00452240.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10341, + "valid_duration": [30, 10371] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1188], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1188, 2205], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2205, 3261], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3261, 4260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4260, 5373], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5373, 6103], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6103, 6519], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6519, 7473], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7473, 8110], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8110, 8667], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8667, 9366], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9366, 9782], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9782, 10371], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2205], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [2205, 4260], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4260, 5373], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5373, 6519], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6519, 8110], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8110, 9366], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9366, 9782], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9782, 10371], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452250.json b/annotations/task-0045/episode_00452250.json new file mode 100644 index 0000000000000000000000000000000000000000..b15a37caeb8cf9eac3a5156bb1413e1d4f9751f5 --- /dev/null +++ b/annotations/task-0045/episode_00452250.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10290, + "valid_duration": [0, 10290] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 815], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [815, 1944], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1944, 2871], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2871, 3933], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3933, 4977], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4977, 5897], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5897, 6388], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6388, 7542], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7542, 8178], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8178, 8989], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8989, 9620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9620, 9942], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9942, 10290], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1944], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [1944, 3933], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3933, 4977], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4977, 6388], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6388, 8178], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8178, 9620], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9620, 9942], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9942, 10290], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452260.json b/annotations/task-0045/episode_00452260.json new file mode 100644 index 0000000000000000000000000000000000000000..b66fbce0e32c373bb0630dec68a155ba38c739ec --- /dev/null +++ b/annotations/task-0045/episode_00452260.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10404, + "valid_duration": [0, 10404] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 836], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [836, 1923], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1923, 3331], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3331, 4591], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4591, 5593], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5593, 6486], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6486, 6904], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6904, 7950], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7950, 8507], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8507, 9121], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9121, 9630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9630, 10020], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10020, 10404], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1923], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1923, 4591], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4591, 5593], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5593, 6904], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6904, 8507], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8507, 9630], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9630, 10020], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10020, 10404], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452270.json b/annotations/task-0045/episode_00452270.json new file mode 100644 index 0000000000000000000000000000000000000000..84dbc7490774cc53f1198ef23d5314cd7e79ec6a --- /dev/null +++ b/annotations/task-0045/episode_00452270.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9524, + "valid_duration": [51, 9575] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [51, 580], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [580, 1707], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1707, 2973], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2974, 3692], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3692, 4873], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4873, 5696], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5696, 6159], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6159, 7285], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7285, 7769], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7769, 8310], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8310, 8891], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8891, 9213], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9213, 9575], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [51, 1707], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [1707, 3692], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3692, 4873], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4873, 6159], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6159, 7769], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7769, 8891], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8891, 9213], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9213, 9575], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452280.json b/annotations/task-0045/episode_00452280.json new file mode 100644 index 0000000000000000000000000000000000000000..ffd97bf1b4edc65aaabedd552c59ab41061b12e3 --- /dev/null +++ b/annotations/task-0045/episode_00452280.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9380, + "valid_duration": [42, 9422] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 640], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [640, 1579], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1579, 2689], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2689, 3319], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3319, 4368], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4368, 5239], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5239, 5672], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5672, 6686], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6686, 7344], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7344, 8041], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8041, 8626], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8626, 8956], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8956, 9422], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 1579], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]]], + "frame_duration": [1579, 3319], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3319, 4368], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4368, 5672], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5672, 7344], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7344, 8626], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8626, 8956], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8956, 9422], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452290.json b/annotations/task-0045/episode_00452290.json new file mode 100644 index 0000000000000000000000000000000000000000..e91ee063be05b6702fd6a8b9f608a82a3b9844e8 --- /dev/null +++ b/annotations/task-0045/episode_00452290.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9219, + "valid_duration": [0, 9219] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 498], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [498, 1711], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1711, 2641], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2641, 3699], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3699, 4868], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4868, 5568], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5568, 5862], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5862, 6870], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6870, 7410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7410, 7942], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7942, 8461], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8461, 8796], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8796, 9219], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1711], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1711, 3699], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3699, 4868], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4868, 5862], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5862, 7410], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7410, 8461], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8461, 8796], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8796, 9219], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452300.json b/annotations/task-0045/episode_00452300.json new file mode 100644 index 0000000000000000000000000000000000000000..67ad2b537ffdb9541a7fc5d6b122d1cb8ebc77f9 --- /dev/null +++ b/annotations/task-0045/episode_00452300.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10456, + "valid_duration": [60, 10516] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 790], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [791, 1893], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1893, 3050], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3051, 3990], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3990, 5220], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5220, 6004], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6004, 6513], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6513, 7562], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7562, 8279], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8279, 8911], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8911, 9541], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9541, 9965], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9965, 10516], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1893], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [1893, 3990], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3990, 5220], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5220, 6513], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6513, 8279], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8279, 9541], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9541, 9965], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9965, 10516], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452310.json b/annotations/task-0045/episode_00452310.json new file mode 100644 index 0000000000000000000000000000000000000000..db31ec9b769795202b980fd2f2377583bd91493b --- /dev/null +++ b/annotations/task-0045/episode_00452310.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10477, + "valid_duration": [51, 10528] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [51, 1009], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1009, 2137], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2137, 3360], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3360, 4329], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4329, 5400], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5400, 6303], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6303, 6692], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6692, 7770], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7784, 8502], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8502, 9210], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9210, 9743], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9743, 10087], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10087, 10528], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [51, 2137], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [2137, 4329], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4329, 5400], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5400, 6692], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6692, 8502], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8502, 9743], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9743, 10087], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10087, 10528], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452320.json b/annotations/task-0045/episode_00452320.json new file mode 100644 index 0000000000000000000000000000000000000000..b424f8cb8a5a7f0a85defdc4e1daf2ba9b12a91b --- /dev/null +++ b/annotations/task-0045/episode_00452320.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9404, + "valid_duration": [1800, 11204] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1800, 2027], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2027, 2958], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2958, 4144], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [4144, 4757], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4757, 5881], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5882, 6792], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6792, 7123], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7123, 8476], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8476, 9146], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9146, 9703], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9704, 10543], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10543, 10785], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10785, 11204], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1800, 2958], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [2958, 4757], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4757, 5881], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5882, 7123], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7123, 9146], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [9146, 10543], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10543, 10785], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10785, 11204], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452330.json b/annotations/task-0045/episode_00452330.json new file mode 100644 index 0000000000000000000000000000000000000000..1def2735b61732961a13144f2d5526f3f6ec917e --- /dev/null +++ b/annotations/task-0045/episode_00452330.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10113, + "valid_duration": [30, 10143] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 877], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [877, 2283], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2283, 2829], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2829, 3928], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3928, 4985], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4985, 5781], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5781, 6282], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6282, 7332], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7332, 7987], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7987, 8635], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8635, 9376], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9376, 9759], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9759, 10143], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2283], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [2283, 3928], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3928, 4985], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4985, 6282], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6282, 7987], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7987, 9376], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9376, 9759], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9759, 10143], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452340.json b/annotations/task-0045/episode_00452340.json new file mode 100644 index 0000000000000000000000000000000000000000..186ac6f28c1b77987c484b12a2c3f21add6b6643 --- /dev/null +++ b/annotations/task-0045/episode_00452340.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8850, + "valid_duration": [0, 8850] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 660], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [661, 1667], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1667, 2583], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2583, 3241], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3241, 4407], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4407, 5276], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5276, 5589], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5589, 6448], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6448, 7039], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7039, 7566], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7566, 8130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8166, 8492], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8492, 8850], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1667], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]]], + "frame_duration": [1667, 3241], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3241, 4407], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4407, 5589], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5589, 7039], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7039, 8130], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8166, 8492], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8492, 8850], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452360.json b/annotations/task-0045/episode_00452360.json new file mode 100644 index 0000000000000000000000000000000000000000..871fbf4c425d05c0d210315acdbea24cb35f3ba0 --- /dev/null +++ b/annotations/task-0045/episode_00452360.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9348, + "valid_duration": [42, 9390] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 1005], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1005, 2046], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2046, 2925], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2925, 3924], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3924, 4932], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4932, 5685], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5685, 6006], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6006, 6918], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6918, 7442], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7442, 7926], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7926, 8589], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8589, 9000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9000, 9390], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 2046], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]]], + "frame_duration": [2046, 3924], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3924, 4932], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4932, 6006], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6006, 7442], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7442, 8589], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8589, 9000], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9000, 9390], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452370.json b/annotations/task-0045/episode_00452370.json new file mode 100644 index 0000000000000000000000000000000000000000..ae595b2ebd1d9a2597688c66188b737485f08b6c --- /dev/null +++ b/annotations/task-0045/episode_00452370.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10701, + "valid_duration": [0, 10701] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 960], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [960, 2067], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2067, 3501], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3501, 4222], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4222, 5653], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5653, 6570], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6570, 6905], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6905, 8010], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8010, 8686], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8687, 9336], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9336, 9984], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9984, 10293], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10293, 10701], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2067], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [2067, 4222], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4222, 5653], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5653, 6905], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6905, 8686], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8687, 9984], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9984, 10293], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10293, 10701], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452380.json b/annotations/task-0045/episode_00452380.json new file mode 100644 index 0000000000000000000000000000000000000000..f169cdce3c80730ed8d909b75eec3e2c96f3290e --- /dev/null +++ b/annotations/task-0045/episode_00452380.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9186, + "valid_duration": [60, 9246] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 617], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [617, 1606], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1606, 2508], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2508, 3323], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3324, 4310], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4310, 5090], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5090, 5526], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5526, 6543], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6543, 7124], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7124, 7830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7830, 8514], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8514, 8844], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8844, 9246], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1606], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [1606, 3323], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3324, 4310], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4310, 5526], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5526, 7124], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7124, 8514], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8514, 8844], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8844, 9246], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452390.json b/annotations/task-0045/episode_00452390.json new file mode 100644 index 0000000000000000000000000000000000000000..9600e77ffd18fe287f894dae217cc3efdccedf01 --- /dev/null +++ b/annotations/task-0045/episode_00452390.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9782, + "valid_duration": [69, 9851] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [69, 1050], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1050, 2043], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2043, 2926], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2926, 4199], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4199, 5300], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5300, 6159], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6159, 6435], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6435, 7446], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7446, 8055], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8055, 8639], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8639, 9216], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9216, 9490], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9490, 9851], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [69, 2043], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [2043, 4199], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4199, 5300], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5300, 6435], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6435, 8055], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8055, 9216], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9216, 9490], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9490, 9851], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452400.json b/annotations/task-0045/episode_00452400.json new file mode 100644 index 0000000000000000000000000000000000000000..af48f3e17d9ab4b3519456e79be2e5ee069bb15c --- /dev/null +++ b/annotations/task-0045/episode_00452400.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9648, + "valid_duration": [42, 9690] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 875], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [875, 2015], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2015, 2848], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2848, 3798], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3798, 4832], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4832, 5596], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5596, 6077], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6077, 7000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7000, 7697], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7697, 8310], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8310, 9026], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9027, 9338], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9339, 9690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [42, 2015], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [2015, 3798], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3798, 4832], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4832, 6077], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6077, 7697], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7697, 9026], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9027, 9338], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9339, 9690], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452410.json b/annotations/task-0045/episode_00452410.json new file mode 100644 index 0000000000000000000000000000000000000000..049d16656f68436a150899bfc0fcd7d174d3e4d9 --- /dev/null +++ b/annotations/task-0045/episode_00452410.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10248, + "valid_duration": [48, 10296] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [48, 443], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [443, 1761], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1761, 2854], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2975, 3755], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3755, 5004], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5004, 5770], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5830, 6453], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6453, 7392], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7392, 8045], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8045, 8697], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8697, 9371], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9371, 9807], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9807, 10296], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [48, 1761], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "high_level"]]], + "frame_duration": [1761, 3755], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3755, 5004], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5004, 6453], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6453, 8045], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8045, 9371], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9371, 9807], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9807, 10296], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452420.json b/annotations/task-0045/episode_00452420.json new file mode 100644 index 0000000000000000000000000000000000000000..9a68cf01a2d9430ce805808fd2c2332fbb27e5c6 --- /dev/null +++ b/annotations/task-0045/episode_00452420.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10380, + "valid_duration": [23, 10403] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [23, 771], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [772, 2256], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2256, 3138], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3138, 4024], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4025, 5265], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5265, 6078], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6078, 6435], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6439, 7467], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7467, 8116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8117, 8799], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8802, 9478], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9478, 9829], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9829, 10403], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [23, 2256], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [2256, 4024], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4025, 5265], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5265, 6435], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6439, 8116], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8117, 9478], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9478, 9829], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9829, 10403], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452430.json b/annotations/task-0045/episode_00452430.json new file mode 100644 index 0000000000000000000000000000000000000000..4ee053b9bbfad38be6ad210d8bbe2d0e029ac61e --- /dev/null +++ b/annotations/task-0045/episode_00452430.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9462, + "valid_duration": [0, 9462] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 603], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [603, 2002], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2002, 2649], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2649, 3518], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3518, 4674], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4674, 5480], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5480, 5913], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5913, 6945], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6945, 7565], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7565, 8206], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8210, 8857], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8857, 9098], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9098, 9462], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2002], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [2002, 3518], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3518, 4674], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4674, 5913], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5913, 7565], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7565, 8857], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8857, 9098], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9098, 9462], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452440.json b/annotations/task-0045/episode_00452440.json new file mode 100644 index 0000000000000000000000000000000000000000..e819a6458457c6a9c71d25eecdbec093c65e0c0e --- /dev/null +++ b/annotations/task-0045/episode_00452440.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9690, + "valid_duration": [0, 9690] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 923], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [923, 2195], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2195, 3150], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3150, 3852], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3852, 4935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4936, 5725], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5725, 6124], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6124, 7140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7140, 7714], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7714, 8303], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8303, 8827], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8827, 9205], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9205, 9690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2195], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [2195, 3852], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3852, 4935], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4936, 6124], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6124, 7714], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7714, 8827], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8827, 9205], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9205, 9690], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452450.json b/annotations/task-0045/episode_00452450.json new file mode 100644 index 0000000000000000000000000000000000000000..0ba011f9f61363cf6f853b60420d0b59d62e6e9f --- /dev/null +++ b/annotations/task-0045/episode_00452450.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8733, + "valid_duration": [53, 8786] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [53, 452], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [453, 1772], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1772, 2431], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2432, 3039], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3039, 4044], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4044, 4816], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4816, 5170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5170, 6099], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6100, 6759], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6759, 7346], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7346, 7976], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7976, 8326], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8326, 8786], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [53, 1772], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [1772, 3039], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3039, 4044], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4044, 5170], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5170, 6759], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6759, 7976], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7976, 8326], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8326, 8786], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452460.json b/annotations/task-0045/episode_00452460.json new file mode 100644 index 0000000000000000000000000000000000000000..441826933d396b1004d70eabd575df968efdcaa1 --- /dev/null +++ b/annotations/task-0045/episode_00452460.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9192, + "valid_duration": [60, 9252] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 930], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [930, 1999], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1999, 3066], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3067, 3654], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3654, 4728], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4728, 5568], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5569, 5907], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5907, 6894], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6894, 7427], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7427, 7999], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7999, 8550], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8550, 8894], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8895, 9252], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1999], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [1999, 3654], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3654, 4728], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4728, 5907], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5907, 7427], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7427, 8550], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8550, 8894], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8895, 9252], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452470.json b/annotations/task-0045/episode_00452470.json new file mode 100644 index 0000000000000000000000000000000000000000..bfcfe9a8520770e26df3cd99c86843aa8497e4cd --- /dev/null +++ b/annotations/task-0045/episode_00452470.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 10212, + "valid_duration": [0, 10212] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 812], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [812, 2173], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2173, 3216], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3216, 4269], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4269, 5352], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5353, 6133], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6133, 6758], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6758, 7545], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7545, 8173], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8173, 8844], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8844, 9466], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9466, 9763], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9763, 10212], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2173], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [2173, 4269], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4269, 5352], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5353, 6758], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6758, 8173], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8173, 9466], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9466, 9763], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9763, 10212], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452480.json b/annotations/task-0045/episode_00452480.json new file mode 100644 index 0000000000000000000000000000000000000000..69b59ca3fa0fc275e112817d61161ff5bf3acd1e --- /dev/null +++ b/annotations/task-0045/episode_00452480.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9810, + "valid_duration": [101, 9911] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [101, 544], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [544, 1884], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1884, 2647], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2647, 3618], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3618, 4591], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4591, 5470], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5471, 6030], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6030, 6972], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6973, 7662], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7662, 8223], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8223, 8994], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8994, 9403], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9583, 9911], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [101, 1884], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "high_level"]]], + "frame_duration": [1884, 3618], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3618, 4591], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4591, 6030], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6030, 7662], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7662, 8994], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8994, 9403], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9583, 9911], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452490.json b/annotations/task-0045/episode_00452490.json new file mode 100644 index 0000000000000000000000000000000000000000..aab7c22633b223c458326555e0a053772f23cc9c --- /dev/null +++ b/annotations/task-0045/episode_00452490.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 11344, + "valid_duration": [60, 11404] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 1183], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1184, 2403], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2403, 3950], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3951, 5200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5201, 6410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6410, 7167], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7167, 7575], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7575, 8396], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8397, 9033], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9034, 9767], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9767, 10461], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10462, 10775], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": ["fridge_dszchb_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10775, 11404], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 2403], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [2403, 5200], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5201, 6410], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6410, 7575], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7575, 9033], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [9034, 10461], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10462, 10775], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": ["fridge_dszchb_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10775, 11404], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452500.json b/annotations/task-0045/episode_00452500.json new file mode 100644 index 0000000000000000000000000000000000000000..b35b70a8d9ceb2f1c16de745816199863fa41b97 --- /dev/null +++ b/annotations/task-0045/episode_00452500.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9516, + "valid_duration": [0, 9516] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 966], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [966, 2109], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2110, 3177], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3177, 3942], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3942, 4825], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4825, 5649], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5649, 6094], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6094, 7011], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7011, 7565], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7566, 8053], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8053, 8700], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8700, 9070], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9070, 9516], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2109], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [2110, 3942], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3942, 4825], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4825, 6094], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6094, 7565], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7566, 8700], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8700, 9070], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9070, 9516], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452550.json b/annotations/task-0045/episode_00452550.json new file mode 100644 index 0000000000000000000000000000000000000000..d6d4871a812083b5735ceabd4c492e25c98ffcce --- /dev/null +++ b/annotations/task-0045/episode_00452550.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8417, + "valid_duration": [30, 8447] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 490], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [491, 1698], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1812, 2633], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2633, 3465], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3465, 4315], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4315, 5058], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5058, 5468], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5468, 6344], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6344, 6832], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6832, 7372], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7372, 7887], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7887, 8198], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8198, 8447], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1698], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1812, 3465], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3465, 4315], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4315, 5468], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5468, 6832], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6832, 7887], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7887, 8198], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8198, 8447], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452630.json b/annotations/task-0045/episode_00452630.json new file mode 100644 index 0000000000000000000000000000000000000000..57c8a8f5a762f4cdf2d3b1558c1526a260f3ddcd --- /dev/null +++ b/annotations/task-0045/episode_00452630.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9138, + "valid_duration": [0, 9138] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 174], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [174, 1440], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1467, 2728], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2728, 3813], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3813, 4651], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4651, 5454], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5454, 5961], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5961, 6774], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6774, 7245], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7245, 7763], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7763, 8381], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8381, 8670], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8670, 9138], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1440], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]]], + "frame_duration": [1467, 3813], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3813, 4651], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4651, 5961], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5961, 7245], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7245, 8381], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8381, 8670], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8670, 9138], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452650.json b/annotations/task-0045/episode_00452650.json new file mode 100644 index 0000000000000000000000000000000000000000..96e1a29bed794e8bd3e4557dea91c73b99dc0308 --- /dev/null +++ b/annotations/task-0045/episode_00452650.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8472, + "valid_duration": [0, 8472] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 790], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [790, 1882], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1882, 2659], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2659, 3275], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3275, 4377], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4377, 5045], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5045, 5448], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5448, 6339], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6339, 6789], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6789, 7310], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7310, 7864], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7864, 8176], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8176, 8472], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1882], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [1882, 3275], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3275, 4377], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4377, 5448], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5448, 6789], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6789, 7864], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7864, 8176], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8176, 8472], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452670.json b/annotations/task-0045/episode_00452670.json new file mode 100644 index 0000000000000000000000000000000000000000..ac292a970bda9a211ffe14f3ca089115c02c4f46 --- /dev/null +++ b/annotations/task-0045/episode_00452670.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9154, + "valid_duration": [0, 9154] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 571], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [571, 1860], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1860, 3329], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["middle_level", "low_level"]], + "frame_duration": [3329, 4154], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4154, 5262], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5262, 5923], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5923, 6346], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6346, 7172], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7172, 7604], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7604, 8110], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8110, 8594], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8594, 8885], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8885, 9154], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1860], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[["", "middle_level"], ["low_level", "low_level"]]], + "frame_duration": [1860, 4154], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4154, 5262], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5262, 6346], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6346, 7604], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7604, 8594], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8594, 8885], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8885, 9154], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452700.json b/annotations/task-0045/episode_00452700.json new file mode 100644 index 0000000000000000000000000000000000000000..0611569e6096a958ddf3adadef14dfa4be0e3a34 --- /dev/null +++ b/annotations/task-0045/episode_00452700.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9438, + "valid_duration": [0, 9438] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 634], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [634, 2017], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2017, 2733], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2733, 3614], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3614, 4647], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4647, 5493], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5493, 6000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6000, 6875], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6875, 7429], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7429, 8009], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8009, 8765], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8765, 9076], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9076, 9438], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 2017], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [2017, 3614], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3614, 4647], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4647, 6000], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6000, 7429], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7429, 8765], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8765, 9076], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9076, 9438], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452710.json b/annotations/task-0045/episode_00452710.json new file mode 100644 index 0000000000000000000000000000000000000000..3bbb9200b827dfd90c89ba2ddc9b32b0b2d7d74d --- /dev/null +++ b/annotations/task-0045/episode_00452710.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9063, + "valid_duration": [30, 9093] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 805], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [805, 1949], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1949, 2754], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2754, 3885], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3885, 4752], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4752, 5460], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5460, 5929], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5929, 6723], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6723, 7128], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7128, 7657], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7657, 8234], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8234, 8661], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8661, 9093], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 1949], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "low_level"]]], + "frame_duration": [1949, 3885], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3885, 4752], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4752, 5929], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5929, 7128], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7128, 8234], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8234, 8661], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8661, 9093], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452730.json b/annotations/task-0045/episode_00452730.json new file mode 100644 index 0000000000000000000000000000000000000000..15879c488b4c67a7b154d5a6fb7850b952d203af --- /dev/null +++ b/annotations/task-0045/episode_00452730.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7008, + "valid_duration": [0, 7008] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 480], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [480, 1620], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1620, 2087], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2087, 2453], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2453, 3430], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3430, 3847], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3847, 4228], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4228, 5157], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5157, 5627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5627, 6000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6000, 6480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6480, 6705], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6705, 7008], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1620], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [1620, 2453], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2453, 3430], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3430, 4228], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4228, 5627], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5627, 6480], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6480, 6705], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6705, 7008], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452760.json b/annotations/task-0045/episode_00452760.json new file mode 100644 index 0000000000000000000000000000000000000000..436a7ed6214194d346b9e7298398b44823e97089 --- /dev/null +++ b/annotations/task-0045/episode_00452760.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8850, + "valid_duration": [0, 8850] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 747], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [747, 1991], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1991, 3284], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3284, 4034], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4034, 4829], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4829, 5618], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5618, 6031], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6031, 6750], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6750, 7096], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7096, 7645], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7645, 8107], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8107, 8410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8410, 8850], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1991], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "high_level"]]], + "frame_duration": [1991, 4034], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4034, 4829], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4829, 6031], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6031, 7096], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7096, 8107], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8107, 8410], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8410, 8850], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452770.json b/annotations/task-0045/episode_00452770.json new file mode 100644 index 0000000000000000000000000000000000000000..76f5dbb820f4d4bd24d62e2f2f0770cc9a0cd1b4 --- /dev/null +++ b/annotations/task-0045/episode_00452770.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 7409, + "valid_duration": [0, 7409] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 459], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [459, 1563], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1563, 2002], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2002, 2791], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2791, 3654], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3654, 4370], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4370, 4743], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4743, 5495], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5498, 5921], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5921, 6504], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6504, 7034], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7034, 7245], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": ["fridge_dszchb_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7245, 7409], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1563], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "middle_level"]]], + "frame_duration": [1563, 2791], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2791, 3654], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3654, 4743], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4743, 5921], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5921, 7034], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7034, 7245], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": ["fridge_dszchb_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7245, 7409], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452790.json b/annotations/task-0045/episode_00452790.json new file mode 100644 index 0000000000000000000000000000000000000000..2e9bc6d6d9e2208536e990c30eb8d325097c341f --- /dev/null +++ b/annotations/task-0045/episode_00452790.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9191, + "valid_duration": [0, 9191] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 738], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [739, 1779], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1779, 2808], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [2808, 3646], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3647, 4514], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4515, 5318], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5319, 5780], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5781, 6577], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6577, 7121], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7121, 7713], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7714, 8412], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8412, 8753], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8753, 9191], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1779], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "low_level"]]], + "frame_duration": [1779, 3646], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3647, 4514], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4515, 5780], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5781, 7121], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7121, 8412], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8412, 8753], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8753, 9191], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452850.json b/annotations/task-0045/episode_00452850.json new file mode 100644 index 0000000000000000000000000000000000000000..702ec8bb69fa894514515f56f33f3b2ae3211adf --- /dev/null +++ b/annotations/task-0045/episode_00452850.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9946, + "valid_duration": [30, 9976] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 935], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [935, 2334], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2334, 3005], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [3005, 4010], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4010, 5116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5116, 5896], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5896, 6381], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6381, 7498], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7498, 7970], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7970, 8589], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8589, 9256], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9256, 9562], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9562, 9976], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 2334], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "low_level"]]], + "frame_duration": [2334, 4010], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4010, 5116], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5116, 6381], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6381, 7970], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7970, 9256], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9256, 9562], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9562, 9976], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452920.json b/annotations/task-0045/episode_00452920.json new file mode 100644 index 0000000000000000000000000000000000000000..812776caec220c3b28471d721a4a6782e749f593 --- /dev/null +++ b/annotations/task-0045/episode_00452920.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8219, + "valid_duration": [0, 8219] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 441], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [441, 1641], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1641, 2128], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2128, 3186], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3186, 4028], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4028, 4893], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4893, 5315], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5315, 6194], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6194, 6546], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6546, 7032], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7032, 7633], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7633, 7962], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7962, 8219], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1641], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [1641, 3186], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3186, 4028], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4028, 5315], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5315, 6546], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6546, 7633], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7633, 7962], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7962, 8219], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452930.json b/annotations/task-0045/episode_00452930.json new file mode 100644 index 0000000000000000000000000000000000000000..00b18930cb49e6a757282e137ff89ddebf0000fd --- /dev/null +++ b/annotations/task-0045/episode_00452930.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9456, + "valid_duration": [0, 9456] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 612], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [612, 1844], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1845, 3235], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3235, 3981], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3982, 4942], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4942, 5805], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5806, 6282], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6282, 7245], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7245, 7607], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7608, 8176], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8177, 8722], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8722, 9117], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9118, 9456], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1844], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]]], + "frame_duration": [1845, 3981], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3982, 4942], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4942, 6282], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6282, 7607], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7608, 8722], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8722, 9117], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9118, 9456], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452980.json b/annotations/task-0045/episode_00452980.json new file mode 100644 index 0000000000000000000000000000000000000000..c84053475f397d91e0a042edaa1922ec3613e06a --- /dev/null +++ b/annotations/task-0045/episode_00452980.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8815, + "valid_duration": [0, 8815] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 759], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [759, 1959], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1960, 2532], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2532, 3354], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3354, 4263], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4266, 5001], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5001, 5418], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5418, 6356], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6356, 6845], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6846, 7449], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7452, 8086], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8086, 8445], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8445, 8815], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1959], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [1960, 3354], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3354, 4263], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_207", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4266, 5418], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5418, 6845], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_207", "countertop_kelker_0"], ["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207", "hotdog_207"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6846, 8086], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8086, 8445], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8445, 8815], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00452990.json b/annotations/task-0045/episode_00452990.json new file mode 100644 index 0000000000000000000000000000000000000000..68efb9321c38485a39e4de98630667e47dfd830a --- /dev/null +++ b/annotations/task-0045/episode_00452990.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 8589, + "valid_duration": [15, 8604] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [15, 838], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [838, 1953], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [1953, 2710], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [2711, 3315], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3315, 4395], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4395, 5320], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5320, 5730], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5730, 6624], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6624, 6966], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6966, 7425], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7428, 7957], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7957, 8261], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8261, 8604], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [15, 1953], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_208", "hotdog_207"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_208", "hotdog_207"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["middle_level", "middle_level"]]], + "frame_duration": [1953, 3315], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3315, 4395], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4395, 5730], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5730, 6966], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "countertop_kelker_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6966, 7957], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7957, 8261], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8261, 8604], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0045/episode_00453000.json b/annotations/task-0045/episode_00453000.json new file mode 100644 index 0000000000000000000000000000000000000000..ee2c91021eaf4139284ab1c1bf81b51dc27cfba9 --- /dev/null +++ b/annotations/task-0045/episode_00453000.json @@ -0,0 +1,256 @@ +{ + "task_name": "cook hot dogs", + "data_folder": "", + "meta_data": { + "task_duration": 9159, + "valid_duration": [0, 9159] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 927], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [927, 1914], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_207", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [["", "low_level"]], + "frame_duration": [1914, 3212], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "fridge_dszchb_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [3212, 4014], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4014, 4969], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4969, 5764], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5764, 6170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6170, 6975], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6975, 7478], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7478, 7980], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7980, 8526], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8526, 8829], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [69], + "skill_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8829, 9159], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 1914], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["hotdog_207", "hotdog_208"], "fridge_dszchb_0"]], + "manipulating_object_id": [["hotdog_207", "hotdog_208"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["low_level", "middle_level"]]], + "frame_duration": [1914, 4014], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4014, 4969], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["hotdog_208", "countertop_kelker_0"]], + "manipulating_object_id": ["hotdog_208"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4969, 6170], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [4], + "primitive_description": ["place in"], + "object_id": [["hotdog_207", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_207"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6170, 7478], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["hotdog_208", "microwave_abzvij_0"], ["hotdog_208", "microwave_abzvij_0"]], + "manipulating_object_id": ["hotdog_208", "hotdog_208"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7478, 8526], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8526, 8829], + "skill_idxes": [11] + }, + { + "primitive_idx": 7, + "primitive_id": [69], + "primitive_description": ["turn on switch"], + "object_id": [["microwave_abzvij_0"]], + "manipulating_object_id": ["microwave_abzvij_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8829, 9159], + "skill_idxes": [12] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470010.json b/annotations/task-0047/episode_00470010.json new file mode 100644 index 0000000000000000000000000000000000000000..9ed0e926db15ab7629079520ba7adf86353774fa --- /dev/null +++ b/annotations/task-0047/episode_00470010.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13733, + "valid_duration": [0, 13733] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 606], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [607, 1627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1627, 3062], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [3062, 3660], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3750, 4113], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4114, 4366], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4367, 4771], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4771, 4914], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4914, 5209], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5210, 6397], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [6397, 7587], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [7588, 8450], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8450, 8670], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8670, 8977], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8978, 9121], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9121, 9500], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9500, 9736], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9736, 10166], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10166, 11086], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11086, 11481], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11481, 11597], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11597, 11794], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11794, 12527], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12527, 12815], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12815, 13344], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13344, 13733], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1627], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1627, 3062], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3062, 3660], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3750, 4366], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4367, 4914], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4914, 6397], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [6397, 7587], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [7588, 8450], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8450, 8977], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8978, 9736], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9736, 11086], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [11086, 13344], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13344, 13733], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470020.json b/annotations/task-0047/episode_00470020.json new file mode 100644 index 0000000000000000000000000000000000000000..f735ea07f2ab2a6be0444394fef918e8535834ad --- /dev/null +++ b/annotations/task-0047/episode_00470020.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 17214, + "valid_duration": [0, 17214] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 603], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [603, 2013], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2013, 3063], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [3063, 4322], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4322, 4730], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4730, 5018], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5018, 5672], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [5672, 6845], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [6845, 7767], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [7767, 8542], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8542, 9109], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 11, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9109, 9400], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9400, 9655], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9655, 9940], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9940, 10327], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 15, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10327, 10378], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 16, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10378, 10834], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10834, 11005], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11005, 11512], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11512, 12888], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [12888, 13462], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13462, 13765], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [13765, 14032], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [14032, 14653], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [14653, 15364], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [15364, 16632], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [16633, 17214], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 2013], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [2013, 3063], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3063, 4322], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4322, 5018], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [5018, 6845], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [6845, 7767], + "skill_idxes": [8] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [7767, 8542], + "skill_idxes": [9] + }, + { + "primitive_idx": 7, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8542, 9400], + "skill_idxes": [10, 11] + }, + { + "primitive_idx": 8, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9400, 10327], + "skill_idxes": [12, 13, 14] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [10327, 11005], + "skill_idxes": [15, 16, 17] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11005, 12888], + "skill_idxes": [18, 19] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [12888, 16632], + "skill_idxes": [20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [16633, 17214], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470040.json b/annotations/task-0047/episode_00470040.json new file mode 100644 index 0000000000000000000000000000000000000000..9091d70dd22631e9dafb2a1f742176e883294ddc --- /dev/null +++ b/annotations/task-0047/episode_00470040.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10722, + "valid_duration": [0, 10722] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 595], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [595, 1479], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1479, 2610], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2610, 3048], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3048, 3180], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3180, 3438], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3438, 3843], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3843, 3935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3942, 4116], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4116, 4905], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4905, 5613], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5613, 6075], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6075, 6256], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6259, 6461], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6461, 6549], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6564, 6852], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6852, 6984], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6984, 7462], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7462, 8227], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8227, 8658], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8658, 8916], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8916, 9064], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9070, 9273], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9273, 9876], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9876, 10116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10116, 10455], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10455, 10722], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1479], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1479, 2610], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2610, 3048], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3048, 3438], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3438, 3935], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3942, 4905], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4905, 5613], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5613, 6075], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6075, 6461], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6461, 6984], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6984, 8227], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8227, 10455], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10455, 10722], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470050.json b/annotations/task-0047/episode_00470050.json new file mode 100644 index 0000000000000000000000000000000000000000..1b75e826905f2c00b9443a4e532c0943376a393e --- /dev/null +++ b/annotations/task-0047/episode_00470050.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 19415, + "valid_duration": [50, 19465] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [50, 447], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [447, 1858], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1859, 3291], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [3291, 4203], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4203, 4450], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4450, 4934], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4934, 6275], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6275, 6666], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6666, 7494], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [7495, 9460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9460, 10076], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [10076, 11023], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11023, 11461], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11461, 12029], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [12029, 12100], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [12100, 12669], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12669, 12977], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12977, 13450], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13450, 14883], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [14883, 15522], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [15522, 15957], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [15957, 16138], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [16138, 17180], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [17180, 17796], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [17796, 18613], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [18613, 19465], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [50, 1858], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1859, 3291], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [3291, 4203], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4203, 4934], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4934, 6666], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6666, 9460], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [9460, 10076], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [10076, 11023], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11023, 12029], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [12029, 12977], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12977, 14883], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [14883, 18613], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [18613, 19465], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470070.json b/annotations/task-0047/episode_00470070.json new file mode 100644 index 0000000000000000000000000000000000000000..21d308884c4bfece643aa19e6737ebf81c76a5bf --- /dev/null +++ b/annotations/task-0047/episode_00470070.json @@ -0,0 +1,421 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 16650, + "valid_duration": [240, 16890] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [240, 684], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [696, 2511], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2511, 3802], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3804, 3954], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3954, 4224], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4224, 6069], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6069, 6435], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back & the other"], + "spatial_prefix": [], + "frame_duration": [6435, 7284], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7284, 8250], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["bottom_cabinet_no_top_gjeoer_0"], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [8253, 8709], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8709, 8835], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 11, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8841, 9249], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9249, 9387], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9387, 10098], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 14, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10098, 10284], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 15, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10284, 10896], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 16, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": ["fridge_dszchb_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10899, 11967], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11967, 12732], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12732, 13035], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [13035, 13287], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [13287, 14064], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [14076, 15114], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [15114, 16103], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [16104, 16890], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [240, 2511], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [2511, 3802], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3804, 4224], + "skill_idxes": [3, 4] + }, + { + "primitive_idx": 3, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4224, 6435], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6435, 8250], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 5, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["bottom_cabinet_no_top_gjeoer_0"], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [8253, 8709], + "skill_idxes": [9] + }, + { + "primitive_idx": 6, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8709, 9249], + "skill_idxes": [10, 11] + }, + { + "primitive_idx": 7, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [9249, 10284], + "skill_idxes": [12, 13, 14] + }, + { + "primitive_idx": 8, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": ["fridge_dszchb_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10284, 11967], + "skill_idxes": [15, 16] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [11967, 16103], + "skill_idxes": [17, 18, 19, 20, 21, 22] + }, + { + "primitive_idx": 10, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [16104, 16890], + "skill_idxes": [23] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470080.json b/annotations/task-0047/episode_00470080.json new file mode 100644 index 0000000000000000000000000000000000000000..4a6f88b2d0652366438d72aedaaaa9940fd72cb4 --- /dev/null +++ b/annotations/task-0047/episode_00470080.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10513, + "valid_duration": [0, 10513] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 534], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [534, 1352], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1352, 1989], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1989, 2482], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2482, 2583], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2583, 2903], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2903, 3378], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3378, 3528], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3528, 3690], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3690, 4495], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4495, 5552], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5577, 6097], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6097, 6161], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6161, 6410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6410, 6519], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6519, 6861], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6861, 7068], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7069, 7503], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7503, 8220], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8220, 8571], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8571, 8871], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8871, 8898], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8898, 9120], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9120, 9754], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9754, 9936], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9936, 10312], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10312, 10513], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1352], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1352, 1989], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1989, 2482], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2482, 2903], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2903, 3528], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3528, 4495], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4495, 5552], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5577, 6097], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6097, 6410], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6410, 7068], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7069, 8220], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8220, 10312], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10312, 10513], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470100.json b/annotations/task-0047/episode_00470100.json new file mode 100644 index 0000000000000000000000000000000000000000..90821f3a9f1877f69ee46ff8dfe883e8d7566f69 --- /dev/null +++ b/annotations/task-0047/episode_00470100.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 29465, + "valid_duration": [96, 29561] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [96, 737], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [737, 3212], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3212, 4333], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [4333, 7890], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7890, 8810], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8810, 9602], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9602, 10249], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10249, 10770], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10770, 11514], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [11514, 13899], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [13929, 15409], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [15409, 17664], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [17664, 18053], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [18053, 18805], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [18805, 18934], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [18934, 19455], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [19455, 20058], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [20058, 20642], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [20642, 22638], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [22638, 23396], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [23396, 24130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [24131, 24802], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [24802, 26558], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [26588, 27217], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [27217, 28788], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [28788, 29561], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [96, 3212], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [3212, 4333], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [4333, 7890], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7890, 9602], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9602, 10770], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [10770, 13899], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [13929, 15409], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [15409, 17664], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [17664, 18805], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [18805, 20058], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [20058, 22638], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [22638, 28788], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [28788, 29561], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470110.json b/annotations/task-0047/episode_00470110.json new file mode 100644 index 0000000000000000000000000000000000000000..bce864b257b828eb377889699d015f417a7f24b7 --- /dev/null +++ b/annotations/task-0047/episode_00470110.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13710, + "valid_duration": [0, 13710] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 727], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [727, 1709], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1709, 2446], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2446, 3160], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3161, 3513], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3513, 3764], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3764, 4468], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4468, 4627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4628, 4882], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4882, 5891], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5891, 6812], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6812, 7597], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7597, 7826], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7826, 8190], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8190, 8226], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8226, 8752], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8753, 9060], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9060, 9501], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9501, 10407], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10407, 10949], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10949, 11335], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11335, 11435], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11436, 11640], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11640, 12390], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12390, 12567], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12567, 13129], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13129, 13710], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1709], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1709, 2446], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2446, 3160], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3161, 3764], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3764, 4627], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4628, 5891], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5891, 6812], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6812, 7597], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7597, 8190], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8190, 9060], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9060, 10407], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10407, 13129], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13129, 13710], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470120.json b/annotations/task-0047/episode_00470120.json new file mode 100644 index 0000000000000000000000000000000000000000..575ce37037ee4a64618020c3b3f160c91d6b7085 --- /dev/null +++ b/annotations/task-0047/episode_00470120.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 14370, + "valid_duration": [0, 14370] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 102], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [102, 1222], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1223, 2486], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2486, 3145], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3145, 3284], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3284, 3706], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3707, 4203], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4203, 4394], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4395, 4587], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4587, 5905], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5905, 6674], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6675, 7579], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7579, 8025], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8025, 8360], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8360, 8534], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8535, 8904], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8904, 9080], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9080, 9617], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9617, 10776], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10776, 11349], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11349, 11642], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11642, 11833], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11834, 11999], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11999, 12878], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12878, 13235], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [13235, 13859], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13859, 14370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1222], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1223, 2486], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2486, 3145], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3145, 3706], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3707, 4394], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4395, 5905], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5905, 6674], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6675, 7579], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7579, 8360], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8360, 9080], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9080, 10776], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10776, 13859], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13859, 14370], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470130.json b/annotations/task-0047/episode_00470130.json new file mode 100644 index 0000000000000000000000000000000000000000..6162ddee99927721c7d412873214ec1e6941e0b6 --- /dev/null +++ b/annotations/task-0047/episode_00470130.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13425, + "valid_duration": [0, 13425] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 600], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [600, 1559], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1559, 2473], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2473, 3039], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3039, 3483], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3483, 3713], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3713, 4200], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4200, 4323], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4323, 4602], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4602, 5577], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5577, 6573], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6633, 7403], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7403, 7693], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7693, 7969], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7969, 8100], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8100, 8556], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8556, 8837], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8879, 9343], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9343, 10240], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10240, 10862], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10865, 11224], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11256, 11401], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11413, 11642], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11660, 12363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12386, 12601], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12601, 13081], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13081, 13425], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1559], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1559, 2473], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2473, 3039], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3039, 3713], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3713, 4323], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4323, 5577], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5577, 6573], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6633, 7403], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7403, 7969], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7969, 8837], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8879, 10240], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10240, 13081], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13081, 13425], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470140.json b/annotations/task-0047/episode_00470140.json new file mode 100644 index 0000000000000000000000000000000000000000..126d009a739f31b340d435bc980abb28e4e0c89d --- /dev/null +++ b/annotations/task-0047/episode_00470140.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12180, + "valid_duration": [0, 12180] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 118], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [118, 1090], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1090, 1771], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1771, 2230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2230, 2522], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2522, 2674], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2674, 3396], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3396, 3781], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3781, 3964], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3964, 5067], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5067, 5616], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5616, 6135], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6135, 6543], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6543, 6654], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6654, 6748], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6748, 7203], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7203, 7593], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7593, 7952], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7952, 8886], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8886, 9417], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9417, 9715], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9715, 9804], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9804, 9979], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9979, 10494], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10494, 10764], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10764, 11086], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11086, 12180], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1090], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1090, 1771], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1771, 2230], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2230, 2674], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2674, 3781], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3781, 5067], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5067, 5616], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5616, 6135], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6135, 6654], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6654, 7593], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7593, 8886], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8886, 11086], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11086, 12180], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470150.json b/annotations/task-0047/episode_00470150.json new file mode 100644 index 0000000000000000000000000000000000000000..ec30cfc59bb943d10ac9e1c4415076719ba5ec85 --- /dev/null +++ b/annotations/task-0047/episode_00470150.json @@ -0,0 +1,491 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 27084, + "valid_duration": [27, 27111] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [27, 501], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [501, 2393], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2393, 4354], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [4354, 6159], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6159, 6598], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6598, 7052], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7052, 7254], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [7254, 9665], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9665, 12028], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [12028, 14356], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [14356, 14823], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 11, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14823, 15249], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [15249, 15491], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [15491, 16257], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [16257, 16912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 15, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [16912, 17208], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 16, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [17208, 18143], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [18143, 18456], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [18456, 18739], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [18739, 20576], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [20576, 21245], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [21245, 22018], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [22018, 22353], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [22353, 23033], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [23033, 24113], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [24113, 24747], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [24747, 26156], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 27, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [26156, 27111], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [27, 2393], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [2393, 4354], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [4354, 6159], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6159, 7052], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [7052, 9665], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [9665, 12028], + "skill_idxes": [8] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [12028, 14356], + "skill_idxes": [9] + }, + { + "primitive_idx": 7, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14356, 15249], + "skill_idxes": [10, 11] + }, + { + "primitive_idx": 8, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [15249, 16912], + "skill_idxes": [12, 13, 14] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [16912, 18456], + "skill_idxes": [15, 16, 17] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [18456, 20576], + "skill_idxes": [18, 19] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [20576, 26156], + "skill_idxes": [20, 21, 22, 23, 24, 25, 26] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [26156, 27111], + "skill_idxes": [27] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470160.json b/annotations/task-0047/episode_00470160.json new file mode 100644 index 0000000000000000000000000000000000000000..de4a683432f44207f364d24ef0fd7c3ff445f22b --- /dev/null +++ b/annotations/task-0047/episode_00470160.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 16290, + "valid_duration": [0, 16290] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 318], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [318, 1600], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1600, 2313], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2313, 3156], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3156, 3549], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3549, 3909], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3909, 4113], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4113, 5916], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5916, 7086], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [7086, 8196], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8196, 8367], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 11, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8367, 8883], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8883, 9096], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9096, 9351], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9351, 9735], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 15, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9735, 9753], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 16, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9753, 10049], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10049, 10188], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10188, 10833], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10833, 11979], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11979, 12537], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12537, 12777], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [12777, 13002], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [13002, 13953], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [13953, 14502], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [14502, 15651], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [15651, 16290], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1600], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1600, 2313], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2313, 3156], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3156, 3909], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3909, 5916], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5916, 7086], + "skill_idxes": [8] + }, + { + "primitive_idx": 6, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [7086, 8196], + "skill_idxes": [9] + }, + { + "primitive_idx": 7, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8196, 8883], + "skill_idxes": [10, 11] + }, + { + "primitive_idx": 8, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8883, 9735], + "skill_idxes": [12, 13, 14] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [9735, 10188], + "skill_idxes": [15, 16, 17] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10188, 11979], + "skill_idxes": [18, 19] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [11979, 15651], + "skill_idxes": [20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [15651, 16290], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470170.json b/annotations/task-0047/episode_00470170.json new file mode 100644 index 0000000000000000000000000000000000000000..3625151c21941a254a908be2f22a9285bc2ce3ca --- /dev/null +++ b/annotations/task-0047/episode_00470170.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12156, + "valid_duration": [0, 12156] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 102], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [102, 974], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [974, 1932], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1932, 2382], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2390, 2691], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2691, 2952], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2952, 3254], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3254, 3384], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3396, 3701], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3701, 4693], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4693, 5730], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5730, 6426], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6426, 6626], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6627, 6847], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6847, 7702], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7703, 7994], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7994, 8360], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8360, 9206], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9206, 9805], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9805, 10154], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10154, 10241], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10241, 10476], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10476, 11158], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11158, 11355], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11355, 11791], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11791, 12156], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 974], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [974, 1932], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1932, 2382], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2390, 2952], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2952, 3384], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3396, 4693], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4693, 5730], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5730, 6426], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6426, 6847], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6847, 7994], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7994, 9206], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9206, 11791], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11791, 12156], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470190.json b/annotations/task-0047/episode_00470190.json new file mode 100644 index 0000000000000000000000000000000000000000..4a7dd7c96d6d62f8f42adb9660355c4f9733fcfd --- /dev/null +++ b/annotations/task-0047/episode_00470190.json @@ -0,0 +1,400 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11760, + "valid_duration": [0, 11760] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 573], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [573, 1833], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1833, 2760], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2760, 3246], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3246, 3576], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3576, 3855], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3855, 4005], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4005, 4329], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [4329, 4869], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4869, 5160], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5160, 5790], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5790, 5907], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5907, 5976], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5976, 6492], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 14, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6495, 6645], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 15, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6645, 7293], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 16, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7293, 8448], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8448, 8976], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8976, 9246], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9246, 9273], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9273, 9459], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9459, 10347], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10347, 10599], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10599, 11133], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11133, 11760], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1833], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [[["tupperware_230", "tupperware_231"], "bottom_cabinet_no_top_gjeoer_0"], [["tupperware_230", "tupperware_231"], "countertop_kelzer_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]], []], + "frame_duration": [1833, 4005], + "skill_idxes": [2, 3, 4, 5, 6] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [4005, 4869], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 3, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4869, 5907], + "skill_idxes": [9, 10, 11] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5907, 6645], + "skill_idxes": [12, 13, 14] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6645, 8448], + "skill_idxes": [15, 16] + }, + { + "primitive_idx": 6, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8448, 11133], + "skill_idxes": [17, 18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11133, 11760], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470210.json b/annotations/task-0047/episode_00470210.json new file mode 100644 index 0000000000000000000000000000000000000000..bd595ee2ea3e9692dc2359729d7327d6c4b8a75c --- /dev/null +++ b/annotations/task-0047/episode_00470210.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10407, + "valid_duration": [0, 10407] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 255], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [255, 979], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [979, 1939], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1940, 2463], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2463, 2676], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2676, 2838], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2838, 3240], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3240, 3408], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3408, 3630], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3630, 4395], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4395, 5146], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5146, 5614], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5614, 5819], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5819, 6060], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6060, 6594], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6594, 6705], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6706, 7097], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7098, 7806], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7806, 8172], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8172, 8533], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8534, 8771], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8773, 9000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9000, 9578], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9578, 9774], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9774, 10166], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10166, 10407], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 979], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [979, 1939], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1940, 2463], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2463, 2838], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2838, 3408], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3408, 4395], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4395, 5146], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5146, 5614], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5614, 6060], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6060, 6705], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6706, 7806], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7806, 10166], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10166, 10407], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470220.json b/annotations/task-0047/episode_00470220.json new file mode 100644 index 0000000000000000000000000000000000000000..659edcf7bcf74f4af30c87f065412dbc2b1a8ad9 --- /dev/null +++ b/annotations/task-0047/episode_00470220.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10068, + "valid_duration": [0, 10068] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 342], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [342, 1184], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1184, 2138], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2153, 2470], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2470, 2860], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2860, 3026], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3030, 3478], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3478, 3595], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3595, 3851], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3855, 4662], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4662, 5444], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5445, 5746], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5747, 5937], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5938, 6247], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6247, 6673], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6673, 6788], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6789, 7200], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7200, 7826], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7826, 8073], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8076, 8456], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8456, 8604], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8604, 9171], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9172, 9383], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9383, 9813], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9819, 10068], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1184], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1184, 2138], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2153, 2470], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2470, 3026], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3030, 3595], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3595, 4662], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4662, 5444], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5445, 5746], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5747, 6247], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6247, 6788], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6789, 7826], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7826, 9813], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9819, 10068], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470230.json b/annotations/task-0047/episode_00470230.json new file mode 100644 index 0000000000000000000000000000000000000000..754743d6514eac951bd7375d61bcd82f0c055b6b --- /dev/null +++ b/annotations/task-0047/episode_00470230.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11715, + "valid_duration": [0, 11715] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 412], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [412, 1125], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1125, 2107], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2107, 2467], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2467, 2752], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2752, 2946], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2946, 3687], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3687, 4126], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4126, 4305], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4305, 5077], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5077, 5715], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [5715, 6151], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6151, 6555], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6555, 6715], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6715, 6790], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6790, 7221], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "apple_pie_234"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7221, 7320], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7320, 7807], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7807, 8610], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8610, 9150], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9150, 9337], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9337, 9360], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9360, 9639], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9639, 10215], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10215, 10395], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10395, 10725], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10725, 11715], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1125], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1125, 2107], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2107, 2467], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2467, 2946], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2946, 4126], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4126, 5077], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5077, 5715], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [5715, 6151], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6151, 6715], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "apple_pie_234"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6715, 7320], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7320, 8610], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8610, 10725], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10725, 11715], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470240.json b/annotations/task-0047/episode_00470240.json new file mode 100644 index 0000000000000000000000000000000000000000..b42c1c4376da6ca634540a9cb350064828f4437d --- /dev/null +++ b/annotations/task-0047/episode_00470240.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10316, + "valid_duration": [0, 10316] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 429], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [429, 1179], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1179, 1978], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1978, 2451], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2451, 2733], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2733, 2980], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2980, 3584], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3584, 3705], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3705, 3909], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3909, 4693], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4693, 5392], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5392, 5951], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5951, 6177], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6177, 6461], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6461, 6519], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6519, 6757], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6757, 6869], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6869, 7254], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7254, 7908], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7908, 8238], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8238, 8578], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8578, 8664], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8664, 8976], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8976, 9474], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9474, 9669], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9669, 10066], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10066, 10316], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1179], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1179, 1978], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1978, 2451], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2451, 2980], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2980, 3705], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3705, 4693], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4693, 5392], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5392, 5951], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5951, 6461], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6461, 6869], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6869, 7908], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7908, 10066], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10066, 10316], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470250.json b/annotations/task-0047/episode_00470250.json new file mode 100644 index 0000000000000000000000000000000000000000..5c41402ef3e2cbc17136cb6ba43dcde3e0334aae --- /dev/null +++ b/annotations/task-0047/episode_00470250.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11580, + "valid_duration": [0, 11580] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 218], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [218, 884], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [885, 1387], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [1387, 1836], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1851, 2112], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2112, 2260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2261, 2806], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2807, 3246], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3246, 3448], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [3449, 4464], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4464, 5082], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [5082, 5655], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5655, 6141], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6141, 6273], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6273, 6783], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6783, 7153], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7153, 7433], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7433, 8352], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8352, 8760], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8760, 9100], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9101, 9210], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9213, 9510], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9511, 9955], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9956, 10195], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10195, 10720], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10720, 11580], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [0, 884], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [885, 1387], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [1387, 1836], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1851, 2260], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2261, 3246], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [3246, 4464], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4464, 5082], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [5082, 5655], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5655, 6273], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6273, 7153], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7153, 8352], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8352, 10720], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10720, 11580], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470260.json b/annotations/task-0047/episode_00470260.json new file mode 100644 index 0000000000000000000000000000000000000000..b9a10b4c63ec891db581412d23033de36ffb8722 --- /dev/null +++ b/annotations/task-0047/episode_00470260.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13959, + "valid_duration": [0, 13959] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 466], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [466, 1506], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1506, 2401], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2401, 2857], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2857, 3219], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3219, 3465], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3465, 3909], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3909, 4164], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4164, 4784], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4784, 5802], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5802, 6846], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6846, 7470], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7470, 7575], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7575, 7950], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7950, 7984], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7984, 8475], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8475, 8649], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8649, 9369], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9369, 10263], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10263, 10831], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10840, 11156], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11156, 11376], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11376, 12330], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12330, 12663], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12663, 13386], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13386, 13959], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1506], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1506, 2401], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2401, 2857], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2857, 3465], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3465, 4164], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4164, 5802], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5802, 6846], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6846, 7470], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7470, 7950], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7950, 8649], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8649, 10263], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10263, 13386], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13386, 13959], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470270.json b/annotations/task-0047/episode_00470270.json new file mode 100644 index 0000000000000000000000000000000000000000..331c043ee62016fb3d3bc7d551638c9ad5c42dfc --- /dev/null +++ b/annotations/task-0047/episode_00470270.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11851, + "valid_duration": [0, 11851] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 629], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [629, 1599], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1599, 2508], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2508, 3020], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3020, 3454], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3457, 3765], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3766, 4203], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4203, 4330], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4330, 4781], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4781, 5708], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5708, 6513], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6513, 6968], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6968, 7228], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7229, 7563], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7563, 7646], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7646, 8200], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8200, 8299], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8303, 8686], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8686, 9471], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9471, 9729], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9732, 10073], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10073, 10256], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10256, 10881], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10881, 11119], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11119, 11580], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11587, 11851], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1599], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1599, 2508], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2508, 3020], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3020, 3765], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3766, 4330], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4330, 5708], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5708, 6513], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6513, 6968], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6968, 7563], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7563, 8299], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8303, 9471], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9471, 11580], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11587, 11851], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470280.json b/annotations/task-0047/episode_00470280.json new file mode 100644 index 0000000000000000000000000000000000000000..b15af42dc60d0ac2c5775c543eba9e3b1d1f2a54 --- /dev/null +++ b/annotations/task-0047/episode_00470280.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 15538, + "valid_duration": [3, 15541] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [3, 1055], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1055, 1852], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1852, 2682], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2682, 3125], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3125, 3376], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3376, 4089], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4089, 4261], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4261, 4594], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4594, 5807], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5807, 6724], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6724, 7744], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7744, 8154], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8154, 8474], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8474, 8585], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8585, 9292], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9292, 9752], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9752, 10326], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10326, 11395], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11395, 12076], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12076, 12402], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [12402, 12707], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [12707, 13097], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [13097, 13978], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [13978, 14267], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [14267, 14921], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14921, 15541], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [3, 1055], + "skill_idxes": [0] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1055, 1852], + "skill_idxes": [1] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1852, 2682], + "skill_idxes": [2] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2682, 3376], + "skill_idxes": [3, 4] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3376, 4261], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4261, 5807], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5807, 6724], + "skill_idxes": [9] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6724, 7744], + "skill_idxes": [10] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7744, 8474], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8474, 9752], + "skill_idxes": [13, 14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9752, 11395], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [11395, 14921], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14921, 15541], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470300.json b/annotations/task-0047/episode_00470300.json new file mode 100644 index 0000000000000000000000000000000000000000..dcfc6b0fb93e01b9ae996316681845fcdae7e7fe --- /dev/null +++ b/annotations/task-0047/episode_00470300.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12781, + "valid_duration": [0, 12781] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 432], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [432, 1526], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1526, 2304], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2304, 2957], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2957, 3137], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3137, 3428], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3428, 3956], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3956, 4141], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4141, 4381], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4381, 5389], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5389, 6182], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6182, 7110], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7110, 7340], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7340, 7543], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7543, 7834], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7834, 7983], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7983, 8522], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8522, 9486], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9486, 10036], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10036, 10335], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10335, 10532], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10532, 10791], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10791, 11539], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11539, 11775], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11775, 12380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12380, 12781], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1526], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1526, 2304], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2304, 2957], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2957, 3428], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3428, 4141], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4141, 5389], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5389, 6182], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6182, 7110], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7110, 7543], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7543, 7983], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7983, 9486], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9486, 12380], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12380, 12781], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470310.json b/annotations/task-0047/episode_00470310.json new file mode 100644 index 0000000000000000000000000000000000000000..5d65d3345284f1362c7b4f8d7820a865d65af0b4 --- /dev/null +++ b/annotations/task-0047/episode_00470310.json @@ -0,0 +1,399 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 14280, + "valid_duration": [0, 14280] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 357], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [357, 1824], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1824, 3237], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3237, 3957], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [3957, 4574], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4574, 4917], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4917, 5259], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5259, 5622], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5622, 5727], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5727, 7101], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7101, 7293], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7293, 7530], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7530, 8103], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 13, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8103, 8220], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8220, 8721], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8721, 10047], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10047, 10650], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10650, 11112], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11112, 11151], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11151, 11757], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11757, 12447], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12447, 12780], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12780, 13512], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13512, 14280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1824], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["tupperware_231", "tupperware_230"], "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [1824, 3957], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [3957, 4574], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4574, 5622], + "skill_idxes": [5, 6, 7] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5622, 7293], + "skill_idxes": [8, 9, 10] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7293, 8220], + "skill_idxes": [11, 12, 13] + }, + { + "primitive_idx": 6, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8220, 10047], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 7, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10047, 13512], + "skill_idxes": [16, 17, 18, 19, 20, 21, 22] + }, + { + "primitive_idx": 8, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13512, 14280], + "skill_idxes": [23] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470330.json b/annotations/task-0047/episode_00470330.json new file mode 100644 index 0000000000000000000000000000000000000000..5d861a299d62b7549c4f83f66feaeb1f08b6dea7 --- /dev/null +++ b/annotations/task-0047/episode_00470330.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12552, + "valid_duration": [0, 12552] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 387], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [387, 1353], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1353, 2386], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2386, 3088], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3088, 3439], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3439, 3673], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3674, 4115], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4115, 4268], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4268, 4763], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4763, 5520], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5520, 6717], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6717, 7230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7230, 7569], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7569, 7833], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7833, 7945], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7945, 8401], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8401, 8671], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8671, 9115], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9118, 9881], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9881, 10250], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10250, 10634], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10634, 10751], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10751, 10997], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10997, 11661], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11661, 11904], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11904, 12354], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12354, 12552], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1353], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1353, 2386], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2386, 3088], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3088, 3673], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3674, 4268], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4268, 5520], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5520, 6717], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6717, 7230], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7230, 7833], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7833, 8671], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8671, 9881], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9881, 12354], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12354, 12552], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470340.json b/annotations/task-0047/episode_00470340.json new file mode 100644 index 0000000000000000000000000000000000000000..194e7142b46ce4f51554aa989c42db42985efdcb --- /dev/null +++ b/annotations/task-0047/episode_00470340.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12060, + "valid_duration": [0, 12060] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 276], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [276, 1200], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1200, 1743], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1743, 2295], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2295, 2568], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2568, 2760], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2760, 3225], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3225, 3471], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3471, 3894], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [3894, 4918], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4918, 5541], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [5541, 6087], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6087, 6666], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6666, 6777], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6777, 6819], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6819, 7335], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7335, 7680], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7680, 8196], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8196, 9099], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9099, 9507], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9507, 9726], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9726, 9825], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9825, 10005], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10005, 10485], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10485, 10704], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10704, 11019], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11019, 12060], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1200], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1200, 1743], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1743, 2295], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2295, 2760], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2760, 3471], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [3471, 4918], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4918, 5541], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [5541, 6087], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6087, 6777], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6777, 7680], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7680, 9099], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9099, 11019], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11019, 12060], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470350.json b/annotations/task-0047/episode_00470350.json new file mode 100644 index 0000000000000000000000000000000000000000..d091f8f554efc633f9b047b8797db460c4520462 --- /dev/null +++ b/annotations/task-0047/episode_00470350.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10981, + "valid_duration": [0, 10981] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 400], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [401, 1244], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1244, 2218], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2218, 2906], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2906, 3162], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3162, 3324], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3324, 3845], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3845, 3992], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3992, 4163], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4163, 5072], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5072, 5642], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5642, 6209], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6209, 6447], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6447, 6591], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6591, 6669], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6669, 7024], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7024, 7189], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7189, 7626], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7626, 8292], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8292, 8653], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8653, 9092], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9092, 9197], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9197, 9449], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9449, 10099], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10100, 10305], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10306, 10766], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10766, 10981], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1244], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1244, 2218], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2218, 2906], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2906, 3324], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3324, 3992], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3992, 5072], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5072, 5642], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5642, 6209], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6209, 6591], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6591, 7189], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7189, 8292], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8292, 10766], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10766, 10981], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470360.json b/annotations/task-0047/episode_00470360.json new file mode 100644 index 0000000000000000000000000000000000000000..49238c3e22b3f8d5d7bbb7d0ecf2d06aa081462e --- /dev/null +++ b/annotations/task-0047/episode_00470360.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11387, + "valid_duration": [0, 11387] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 150], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [150, 1121], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1121, 1782], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1782, 2160], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2160, 2475], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2505, 2649], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2649, 3180], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3180, 3276], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3276, 3483], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3483, 4379], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4383, 5320], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5320, 6015], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6015, 6275], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6275, 6540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6540, 7109], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7109, 7231], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7231, 7707], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7707, 8577], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8577, 9021], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9021, 9380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9381, 9506], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9506, 9855], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9855, 10470], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10470, 10674], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10674, 11143], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11143, 11387], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1121], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1121, 1782], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1782, 2160], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2160, 2649], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2649, 3276], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3276, 4379], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4383, 5320], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5320, 6015], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6015, 6540], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6540, 7231], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7231, 8577], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8577, 11143], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11143, 11387], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470370.json b/annotations/task-0047/episode_00470370.json new file mode 100644 index 0000000000000000000000000000000000000000..19c80e6882a3659994073a5d982bde9383e2516a --- /dev/null +++ b/annotations/task-0047/episode_00470370.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13673, + "valid_duration": [0, 13673] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 434], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [435, 1528], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1528, 2527], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2527, 3273], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3273, 3538], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3538, 3887], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3887, 4498], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4499, 4700], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4700, 4992], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4992, 6285], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [6285, 7121], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [7122, 7991], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7991, 8235], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8235, 8441], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8442, 8649], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8649, 9041], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9041, 9205], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9205, 9630], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9630, 10650], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10650, 11098], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11099, 11408], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11408, 11661], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11662, 12452], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12477, 12734], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12734, 13195], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13195, 13673], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1528], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1528, 2527], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2527, 3273], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3273, 3887], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3887, 4700], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4700, 6285], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [6285, 7121], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [7122, 7991], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7991, 8441], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8442, 9205], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9205, 10650], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10650, 13195], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13195, 13673], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470380.json b/annotations/task-0047/episode_00470380.json new file mode 100644 index 0000000000000000000000000000000000000000..4650fb6f5752f456acb60006cdfdf74e655f17f4 --- /dev/null +++ b/annotations/task-0047/episode_00470380.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11850, + "valid_duration": [0, 11850] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 292], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [292, 1079], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1109, 1615], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1615, 1965], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1965, 2260], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2260, 2450], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2630, 3272], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3272, 3655], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3655, 3740], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3740, 4717], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4717, 5305], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5305, 5877], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5877, 6187], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6187, 6399], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6399, 6858], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6858, 7012], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7012, 7634], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7634, 8622], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8630, 9018], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9018, 9257], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9257, 9681], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9681, 10259], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10259, 10548], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10548, 11009], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11009, 11850], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1079], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1109, 1615], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1615, 1965], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1965, 2450], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2630, 3655], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3655, 4717], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4717, 5305], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5305, 5877], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5877, 6399], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6399, 7012], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7012, 8622], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8630, 11009], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11009, 11850], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470400.json b/annotations/task-0047/episode_00470400.json new file mode 100644 index 0000000000000000000000000000000000000000..ec78e0d21b4438e015e423451eab8f3e4d161d5b --- /dev/null +++ b/annotations/task-0047/episode_00470400.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11229, + "valid_duration": [0, 11229] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 535], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [535, 1452], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1452, 2376], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2376, 2828], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2828, 3078], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3078, 3255], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3255, 3661], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3675, 3840], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3840, 4056], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4056, 4875], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4875, 5744], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5744, 6504], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6504, 6802], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6802, 6990], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6990, 7126], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7126, 7442], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7442, 7592], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7592, 7976], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7976, 8715], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8715, 9040], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9040, 9345], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9345, 9536], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9536, 9762], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9762, 10384], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10384, 10582], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10582, 10965], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10965, 11229], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1452], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1452, 2376], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2376, 2828], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2828, 3255], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3255, 3840], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3840, 4875], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4875, 5744], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5744, 6504], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6504, 6990], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6990, 7592], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7592, 8715], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8715, 10965], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10965, 11229], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470410.json b/annotations/task-0047/episode_00470410.json new file mode 100644 index 0000000000000000000000000000000000000000..97bd9ebaf74ec4054f9f4580faaa8ee2df2dc885 --- /dev/null +++ b/annotations/task-0047/episode_00470410.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 14592, + "valid_duration": [0, 14592] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 267], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [267, 1318], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1318, 1892], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1893, 2362], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2362, 2610], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2610, 2858], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2858, 3788], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3788, 4238], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4238, 4445], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [4446, 5899], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5900, 6477], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [6478, 7078], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7078, 7652], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7652, 7909], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7910, 8007], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8007, 8709], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8710, 9058], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9058, 9371], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9372, 10602], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10602, 11130], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11130, 11606], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11607, 11751], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11751, 11994], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11994, 12589], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12590, 12929], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12929, 13522], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13522, 14592], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1318], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1318, 1892], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1893, 2362], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2362, 2858], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2858, 4238], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [4238, 5899], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5900, 6477], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [6478, 7078], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7078, 7909], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7910, 9058], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9058, 10602], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10602, 13522], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13522, 14592], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470420.json b/annotations/task-0047/episode_00470420.json new file mode 100644 index 0000000000000000000000000000000000000000..73d425d51af772ab9852289bcdd5e42aed71396f --- /dev/null +++ b/annotations/task-0047/episode_00470420.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11670, + "valid_duration": [0, 11670] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 452], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [452, 1454], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1454, 2590], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2668, 3040], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3040, 3292], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3292, 3654], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3654, 4128], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4128, 4306], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4306, 4639], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4639, 5546], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5546, 6743], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6743, 7051], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7051, 7114], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7114, 7469], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7469, 7530], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7530, 7824], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7824, 8091], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8091, 8481], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8481, 9210], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9210, 9567], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9567, 9960], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9960, 10298], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10298, 10839], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10839, 11058], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11058, 11430], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11430, 11670], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1454], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1454, 2590], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2668, 3040], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3040, 3654], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3654, 4306], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4306, 5546], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5546, 6743], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6743, 7051], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7051, 7469], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7469, 8091], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8091, 9210], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9210, 11430], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11430, 11670], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470430.json b/annotations/task-0047/episode_00470430.json new file mode 100644 index 0000000000000000000000000000000000000000..56013a14be5c5bbfe2aa5576f94d8d5ef80a638a --- /dev/null +++ b/annotations/task-0047/episode_00470430.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11640, + "valid_duration": [0, 11640] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 30], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [30, 884], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [884, 2100], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2100, 2565], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2565, 2706], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2706, 2997], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2998, 3464], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3464, 3594], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3594, 3858], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3858, 4740], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4740, 5970], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5971, 6572], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6572, 6837], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6837, 7147], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7147, 7254], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7254, 7714], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7714, 7836], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7836, 8267], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8268, 8993], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8994, 9396], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9396, 9734], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9734, 9857], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9857, 10093], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10093, 10746], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10746, 10970], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10970, 11394], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11394, 11640], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 884], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [884, 2100], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2100, 2565], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2565, 2997], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2998, 3594], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3594, 4740], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4740, 5970], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5971, 6572], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6572, 7147], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7147, 7836], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7836, 8993], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8994, 11394], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11394, 11640], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470450.json b/annotations/task-0047/episode_00470450.json new file mode 100644 index 0000000000000000000000000000000000000000..04960feef9a2c9f6df09e3eb797969e49c97eb8b --- /dev/null +++ b/annotations/task-0047/episode_00470450.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10734, + "valid_duration": [0, 10734] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 313], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [333, 1356], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1356, 2049], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2049, 2445], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2445, 2766], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2766, 3063], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3063, 3588], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3591, 3690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3705, 3942], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3951, 4803], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4803, 5686], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5686, 6183], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6183, 6396], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6396, 6625], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6625, 6757], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6757, 7158], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7158, 7384], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7384, 7824], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7830, 8587], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8587, 8754], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8754, 9144], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9144, 9456], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9456, 9903], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9903, 10068], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10068, 10467], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10467, 10734], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1356], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1356, 2049], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2049, 2445], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2445, 3063], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3063, 3690], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3705, 4803], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4803, 5686], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5686, 6183], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6183, 6625], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6625, 7384], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7384, 8587], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8587, 10467], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10467, 10734], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470470.json b/annotations/task-0047/episode_00470470.json new file mode 100644 index 0000000000000000000000000000000000000000..e2e394a009edf30c9f79ceab8e90491b9cc0ee0c --- /dev/null +++ b/annotations/task-0047/episode_00470470.json @@ -0,0 +1,399 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 15777, + "valid_duration": [36, 15813] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [36, 605], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [605, 1974], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1974, 3912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3912, 4957], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4957, 5601], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5601, 5970], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5970, 6546], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6546, 7041], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7041, 7403], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7403, 7734], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7734, 7865], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7865, 8175], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8175, 8863], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 13, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8863, 9114], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9114, 9782], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9782, 11109], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11109, 11852], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11852, 12339], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [12339, 12396], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [12396, 13193], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [13193, 13907], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [13907, 14334], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [14334, 15183], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [15183, 15813], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [36, 1974], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["tupperware_231", "tupperware_230"], "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [1974, 4957], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4957, 5601], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5601, 7041], + "skill_idxes": [5, 6, 7] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7041, 7865], + "skill_idxes": [8, 9, 10] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7865, 9114], + "skill_idxes": [11, 12, 13] + }, + { + "primitive_idx": 6, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9114, 11109], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 7, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [11109, 15183], + "skill_idxes": [16, 17, 18, 19, 20, 21, 22] + }, + { + "primitive_idx": 8, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [15183, 15813], + "skill_idxes": [23] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470480.json b/annotations/task-0047/episode_00470480.json new file mode 100644 index 0000000000000000000000000000000000000000..4178a191148fbc1d56a8eb213e152999de4157d5 --- /dev/null +++ b/annotations/task-0047/episode_00470480.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13142, + "valid_duration": [30, 13172] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 466], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [466, 1556], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1556, 2095], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [2095, 2436], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2436, 2793], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2793, 3036], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3036, 3731], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3731, 4119], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4119, 4332], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4332, 5344], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5344, 5921], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5921, 6344], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6344, 6736], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6736, 6908], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6908, 6995], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6995, 7451], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7451, 7627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7627, 8087], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8087, 9390], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9390, 9911], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9911, 10299], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10299, 10535], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10535, 10841], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10841, 11312], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11312, 11830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11830, 12292], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12292, 13172], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [30, 1556], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1556, 2095], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [2095, 2436], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2436, 3036], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3036, 4119], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4119, 5344], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5344, 5921], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5921, 6344], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6344, 6908], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6908, 7627], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7627, 9390], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9390, 12292], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12292, 13172], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470500.json b/annotations/task-0047/episode_00470500.json new file mode 100644 index 0000000000000000000000000000000000000000..6a8a095064785313bbee7f1d54bcf325b991f5f9 --- /dev/null +++ b/annotations/task-0047/episode_00470500.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12176, + "valid_duration": [0, 12176] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 762], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [762, 1797], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1797, 2812], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2812, 3307], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3307, 3607], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3607, 3855], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3855, 4377], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4378, 4519], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4519, 4884], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4884, 5815], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["first_right_door", "high_level"]], + "frame_duration": [5815, 6490], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6491, 6871], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6872, 6948], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6948, 7263], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7263, 7372], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7373, 7837], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7837, 8070], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8070, 8603], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8603, 9518], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9518, 9903], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9903, 10350], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10350, 10414], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10414, 10691], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10691, 11337], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["middle_level", "middle_level"]], + "frame_duration": [11337, 11544], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["high_level", "high_level"]], + "frame_duration": [11544, 11914], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11914, 12176], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1797], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1797, 2812], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2812, 3307], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3307, 3855], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3855, 4519], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4519, 5815], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[["first_right_door"], ["high_level"]]], + "frame_duration": [5815, 6490], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6491, 6871], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6872, 7263], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7263, 8070], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8070, 9518], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [["middle_level", "high_level"], ["middle_level", "high_level"]]], + "frame_duration": [9518, 11914], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11914, 12176], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470510.json b/annotations/task-0047/episode_00470510.json new file mode 100644 index 0000000000000000000000000000000000000000..ea05da564a43f5c156e42bd72116c00b3cceca20 --- /dev/null +++ b/annotations/task-0047/episode_00470510.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 15686, + "valid_duration": [184, 15870] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [184, 378], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [525, 1744], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1744, 2500], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [2500, 2919], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2919, 3131], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3132, 3522], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3523, 4470], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4470, 4771], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4772, 5186], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [5187, 6530], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [6531, 8006], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [8012, 8472], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8472, 8794], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8794, 9253], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9253, 9330], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9336, 10084], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10084, 10620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10620, 10722], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10744, 11762], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11763, 11914], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11941, 12360], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [12390, 12555], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [12558, 12780], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [12780, 13740], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [13741, 14311], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [14311, 15131], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [15131, 15870], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [184, 1744], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1744, 2500], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [2500, 2919], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2919, 3522], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3523, 4771], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [4772, 6530], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [6531, 8006], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [8012, 8472], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8472, 9253], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [9253, 10620], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10620, 11762], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [11763, 15131], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [15131, 15870], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470520.json b/annotations/task-0047/episode_00470520.json new file mode 100644 index 0000000000000000000000000000000000000000..5621f386a6d9f06e0fa5fce2ed193c4f7e40f693 --- /dev/null +++ b/annotations/task-0047/episode_00470520.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12915, + "valid_duration": [45, 12960] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [45, 333], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [333, 1267], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1267, 1846], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [1846, 2286], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2286, 2523], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2523, 2709], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2709, 3357], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3357, 3696], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3696, 4119], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4119, 5229], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5235, 5736], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [5736, 6211], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6211, 6829], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6829, 7044], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7044, 7570], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7570, 7716], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7716, 8317], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8317, 9486], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9486, 9966], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9966, 10205], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10205, 10470], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10470, 10730], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10730, 11295], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11295, 11613], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11613, 12036], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12036, 12960], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [45, 1267], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1267, 1846], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [1846, 2286], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2286, 2709], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2709, 3696], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3696, 5229], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5235, 5736], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [5736, 6211], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6211, 7044], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7044, 7716], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7716, 9486], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9486, 12036], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12036, 12960], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470530.json b/annotations/task-0047/episode_00470530.json new file mode 100644 index 0000000000000000000000000000000000000000..c75241c5f0996bdae614599bf519f15eaa8d8d12 --- /dev/null +++ b/annotations/task-0047/episode_00470530.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12964, + "valid_duration": [0, 12964] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 446], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [446, 1553], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1553, 2360], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2360, 2885], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2885, 3209], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3209, 3484], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3484, 4280], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4280, 4526], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4526, 4817], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4817, 5670], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5670, 6647], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6647, 7200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7200, 7502], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7502, 7781], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7781, 8478], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8478, 8645], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8645, 8972], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8972, 9932], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9932, 10530], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10531, 10840], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10840, 10955], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10955, 11366], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11366, 11843], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11843, 12059], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12152, 12512], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12512, 12964], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1553], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1553, 2360], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2360, 2885], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2885, 3484], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3484, 4526], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4526, 5670], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5670, 6647], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6647, 7200], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7200, 7781], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7781, 8645], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8645, 9932], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9932, 12512], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12512, 12964], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470540.json b/annotations/task-0047/episode_00470540.json new file mode 100644 index 0000000000000000000000000000000000000000..bb1a25756b5c80eb1b063ea960b0db077f7b8fa9 --- /dev/null +++ b/annotations/task-0047/episode_00470540.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 18390, + "valid_duration": [0, 18390] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 577], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [577, 1833], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1833, 2889], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2889, 3753], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3753, 4136], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4136, 4479], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4479, 5508], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5508, 5709], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5709, 6284], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6284, 7714], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [7714, 8696], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [8696, 9623], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9623, 9843], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9843, 10331], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10331, 11849], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11849, 12276], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12276, 12705], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12705, 14043], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [14043, 14655], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14655, 15153], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [15153, 15633], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [15633, 16541], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [16541, 16797], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [16797, 17671], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [17671, 18390], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1833], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1833, 2889], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2889, 3753], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3753, 4479], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4479, 5709], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5709, 7714], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [7714, 8696], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [8696, 9623], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9623, 10331], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [10331, 12276], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12276, 14043], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [14043, 17671], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [17671, 18390], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470550.json b/annotations/task-0047/episode_00470550.json new file mode 100644 index 0000000000000000000000000000000000000000..96c59c8da38faf6803c8d5f5c11f9a11fe5f1efa --- /dev/null +++ b/annotations/task-0047/episode_00470550.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12209, + "valid_duration": [0, 12209] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 390], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [390, 1328], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1328, 2228], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2229, 2630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2631, 2933], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2945, 3198], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3199, 3577], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3577, 3723], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3723, 3924], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3924, 5060], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5071, 5995], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6247, 6687], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6695, 6810], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6817, 7149], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7149, 7682], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7682, 7874], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7875, 8189], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8189, 9124], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9124, 9535], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9535, 9937], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9937, 10068], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "countertop_kelzer_0"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10077, 10510], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10515, 11064], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11065, 11309], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11310, 11760], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11764, 12209], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1328], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1328, 2228], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2229, 2630], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2631, 3198], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3199, 3723], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3723, 5060], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5071, 5995], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6247, 6687], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6695, 7149], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7149, 7874], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7875, 9124], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "apple_pie_234"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "apple_pie_234"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9124, 11760], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11764, 12209], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470560.json b/annotations/task-0047/episode_00470560.json new file mode 100644 index 0000000000000000000000000000000000000000..2a6efb00f4246d32da8cb4b91ff4cd4a4f729516 --- /dev/null +++ b/annotations/task-0047/episode_00470560.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13167, + "valid_duration": [0, 13167] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 802], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [802, 1988], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1988, 2871], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2871, 3408], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3408, 3730], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3730, 3958], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3958, 4611], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4611, 4779], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4779, 5013], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5013, 5982], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5982, 6897], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6897, 7496], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7496, 7767], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7767, 7992], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7992, 8705], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8705, 8919], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8919, 9399], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9399, 10313], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10313, 10761], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10761, 11116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11116, 11195], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11195, 11469], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11469, 12164], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12164, 12396], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12396, 12849], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12849, 13167], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1988], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1988, 2871], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2871, 3408], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3408, 3958], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3958, 4779], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4779, 5982], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5982, 6897], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6897, 7496], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7496, 7992], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7992, 8919], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8919, 10313], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10313, 12849], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12849, 13167], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470570.json b/annotations/task-0047/episode_00470570.json new file mode 100644 index 0000000000000000000000000000000000000000..51fc39382a6445992d73fcfdee0fcdda11c3a286 --- /dev/null +++ b/annotations/task-0047/episode_00470570.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 16920, + "valid_duration": [0, 16920] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 570], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [579, 2110], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2111, 3099], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [3099, 4197], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4197, 4470], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4485, 4836], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4836, 5566], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5566, 5873], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5874, 6138], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6138, 7646], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [7647, 9033], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [9033, 9853], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9854, 9969], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9969, 10290], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10306, 10601], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10602, 11253], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11253, 11388], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11388, 11771], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11772, 13038], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [13038, 13440], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13460, 13990], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [14010, 14203], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [14203, 15350], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [15351, 15727], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [15727, 16415], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [16415, 16920], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 2110], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [2111, 3099], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [3099, 4197], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4197, 4836], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4836, 5873], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5874, 7646], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [7647, 9033], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [9033, 9853], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9854, 10290], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [10306, 11388], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11388, 13038], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [13038, 16415], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [16415, 16920], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470590.json b/annotations/task-0047/episode_00470590.json new file mode 100644 index 0000000000000000000000000000000000000000..3256779f4f311611b4be1a1ccc84947ecd7f7f09 --- /dev/null +++ b/annotations/task-0047/episode_00470590.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 14922, + "valid_duration": [0, 14922] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 467], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [467, 1890], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1890, 2432], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [2432, 3060], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3060, 3270], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3270, 3501], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3501, 4426], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4426, 4872], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4872, 5129], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5129, 6417], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [6417, 6901], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6961, 7620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7620, 7989], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7989, 8201], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8201, 8342], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8342, 8790], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8790, 9045], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9045, 9666], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9667, 10660], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10660, 11176], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11176, 11733], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11733, 11830], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11835, 12063], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [12063, 12741], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12741, 13080], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [13080, 13627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13681, 14922], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [0, 1890], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1890, 2432], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [2432, 3060], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3060, 3501], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3501, 4872], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4872, 6417], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [6417, 6901], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6961, 7620], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7620, 8201], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8201, 9045], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9045, 10660], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10660, 13627], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13681, 14922], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470610.json b/annotations/task-0047/episode_00470610.json new file mode 100644 index 0000000000000000000000000000000000000000..a5ba12f814ecd1285849136bfceb4c3bcefc88e7 --- /dev/null +++ b/annotations/task-0047/episode_00470610.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12870, + "valid_duration": [0, 12870] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 428], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [429, 1451], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1562, 1952], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1952, 2430], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2430, 2742], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2742, 2914], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2914, 3414], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3415, 3772], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3772, 4137], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [4137, 5190], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5190, 5682], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [5682, 6337], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6337, 6960], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6960, 7152], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7152, 7200], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7200, 7798], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7798, 7951], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7951, 8366], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8366, 9481], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9481, 10109], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10109, 10355], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10355, 10444], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10444, 10746], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10746, 11222], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11222, 11538], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11539, 11914], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11914, 12870], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1451], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1562, 1952], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1952, 2430], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2430, 2914], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2914, 3772], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [3772, 5190], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5190, 5682], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [5682, 6337], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6337, 7152], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7152, 7951], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7951, 9481], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9481, 11914], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11914, 12870], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470620.json b/annotations/task-0047/episode_00470620.json new file mode 100644 index 0000000000000000000000000000000000000000..f8a350a5ae0765a5a77abf0788e90fd491e4db7c --- /dev/null +++ b/annotations/task-0047/episode_00470620.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11436, + "valid_duration": [0, 11436] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 441], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [441, 1250], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1250, 2180], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2180, 2567], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2567, 2886], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2886, 3044], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3044, 3568], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3569, 3714], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3714, 3945], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3945, 4772], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4802, 6022], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6082, 6532], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6532, 6738], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6738, 6900], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6901, 7018], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7018, 7495], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7495, 7641], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7641, 8094], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8094, 8880], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8880, 9281], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9284, 9637], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9637, 9766], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9766, 10144], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10144, 10649], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10649, 10827], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10827, 11190], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11190, 11436], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1250], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1250, 2180], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2180, 2567], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2567, 3044], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3044, 3714], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3714, 4772], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4802, 6022], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6082, 6532], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6532, 6900], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6901, 7641], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7641, 8880], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8880, 11190], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11190, 11436], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470640.json b/annotations/task-0047/episode_00470640.json new file mode 100644 index 0000000000000000000000000000000000000000..c8c1160f20a40172efe0361bec340a09327bae43 --- /dev/null +++ b/annotations/task-0047/episode_00470640.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11160, + "valid_duration": [0, 11160] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 207], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [207, 1072], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1072, 2040], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2040, 2666], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2667, 2959], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2962, 3090], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3091, 3510], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3510, 3648], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3648, 3859], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3860, 4710], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4710, 5400], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5400, 5880], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5880, 6099], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6106, 6385], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6385, 6441], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6447, 6991], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6991, 7224], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7224, 7674], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7674, 8494], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8495, 8820], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8820, 9192], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9192, 9214], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9214, 9514], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9514, 10182], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10182, 10422], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10422, 10861], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10861, 11160], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1072], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1072, 2040], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2040, 2666], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2667, 3090], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "tupperware_230"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3091, 3648], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3648, 4710], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4710, 5400], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5400, 5880], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5880, 6385], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6385, 7224], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7224, 8494], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8495, 10861], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10861, 11160], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470650.json b/annotations/task-0047/episode_00470650.json new file mode 100644 index 0000000000000000000000000000000000000000..e816e463b3c93d57e8ac324a53dc0451a8f6cb89 --- /dev/null +++ b/annotations/task-0047/episode_00470650.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12603, + "valid_duration": [30, 12633] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [30, 462], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [462, 1363], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1363, 2250], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2250, 2558], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2558, 2894], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2894, 3075], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3075, 3647], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3647, 4060], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4060, 4418], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [4418, 5438], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5479, 6005], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [6005, 6341], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6341, 6931], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6931, 7076], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7076, 7185], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7185, 7566], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7566, 7787], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7787, 8228], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8228, 9435], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9435, 9975], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9975, 10188], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10188, 10305], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10305, 10508], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10508, 11067], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11067, 11313], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11313, 11630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11630, 12633], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [30, 1363], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1363, 2250], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2250, 2558], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2558, 3075], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3075, 4060], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [4060, 5438], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5479, 6005], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [6005, 6341], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6341, 7076], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7076, 7787], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7787, 9435], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9435, 11630], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11630, 12633], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470660.json b/annotations/task-0047/episode_00470660.json new file mode 100644 index 0000000000000000000000000000000000000000..a700897b7136c227d0d6fd9b78b362594d8a196a --- /dev/null +++ b/annotations/task-0047/episode_00470660.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 19320, + "valid_duration": [0, 19320] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 480], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [480, 2634], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2640, 3347], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3347, 4350], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4362, 4578], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4578, 4743], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4773, 5553], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5553, 5971], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5971, 6210], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6216, 7917], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [7917, 8943], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [8949, 9756], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9762, 10322], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10323, 10782], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10782, 11717], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11717, 11946], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11946, 12312], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12312, 14059], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [14059, 14361], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14361, 14673], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [14673, 14766], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [14766, 15162], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [15162, 16337], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [16343, 16959], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [16959, 18330], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [18330, 19320], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 2634], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [2640, 3347], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3347, 4350], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4362, 4743], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4773, 5971], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5971, 7917], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [7917, 8943], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [8949, 9756], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9762, 10782], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [10782, 11946], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11946, 14059], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [14059, 18330], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [18330, 19320], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470670.json b/annotations/task-0047/episode_00470670.json new file mode 100644 index 0000000000000000000000000000000000000000..972ea7ad323b627f7cea588090127585026a7523 --- /dev/null +++ b/annotations/task-0047/episode_00470670.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10800, + "valid_duration": [0, 10800] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 357], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [357, 1182], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1182, 1796], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1796, 2332], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2332, 2583], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2620, 2970], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2970, 3483], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3483, 3755], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3755, 3802], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3802, 4673], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4673, 5574], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5574, 6089], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6089, 6364], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6364, 6648], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6648, 6764], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6764, 7176], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7176, 7316], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7316, 7734], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7734, 8382], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8382, 8739], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8739, 9112], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9112, 9172], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9172, 9454], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9454, 10077], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10077, 10243], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10243, 10597], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10597, 10800], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1182], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1182, 1796], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1796, 2332], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2332, 2970], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2970, 3755], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3755, 4673], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4673, 5574], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5574, 6089], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6089, 6648], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6648, 7316], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7316, 8382], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8382, 10597], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10597, 10800], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470680.json b/annotations/task-0047/episode_00470680.json new file mode 100644 index 0000000000000000000000000000000000000000..4f28d18643abec4d2204e7f16b4e0ed45c48b3cc --- /dev/null +++ b/annotations/task-0047/episode_00470680.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10380, + "valid_duration": [0, 10380] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 142], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [142, 970], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [970, 1933], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1933, 2432], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2432, 2480], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2480, 2825], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2825, 3211], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3211, 3322], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3322, 3504], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3504, 4462], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4463, 5310], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5316, 5700], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5700, 5959], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5960, 6072], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6072, 6165], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6165, 6500], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6500, 6595], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6596, 7004], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7005, 7710], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7710, 8059], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8059, 8452], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8452, 8577], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8577, 8895], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8895, 9543], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9543, 9719], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9719, 10096], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10096, 10380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 970], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [970, 1933], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1933, 2432], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2432, 2825], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2825, 3322], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3322, 4462], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4463, 5310], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5316, 5700], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5700, 6072], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6072, 6595], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6596, 7710], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7710, 10096], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10096, 10380], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470690.json b/annotations/task-0047/episode_00470690.json new file mode 100644 index 0000000000000000000000000000000000000000..67a3cb1563d0dbab3a7f9a10c393c1e8d54d28fe --- /dev/null +++ b/annotations/task-0047/episode_00470690.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12269, + "valid_duration": [0, 12269] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 414], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [414, 1288], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1288, 2012], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2012, 2606], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2606, 3015], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3015, 3270], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3270, 3624], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3624, 3738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3738, 4160], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4160, 5290], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5290, 6074], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6074, 6759], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6759, 7084], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7084, 7370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["plate_232"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7370, 7398], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7398, 7800], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7800, 8094], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8094, 8538], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8538, 9486], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9486, 9984], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9984, 10257], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10257, 10294], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10294, 10513], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10513, 11229], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11229, 11461], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11461, 11911], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11911, 12269], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1288], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1288, 2012], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2012, 2606], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2606, 3270], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3270, 3738], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3738, 5290], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5290, 6074], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6074, 6759], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6759, 7370], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7370, 8094], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8094, 9486], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9486, 11911], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11911, 12269], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470700.json b/annotations/task-0047/episode_00470700.json new file mode 100644 index 0000000000000000000000000000000000000000..f377ae37dbf2ae6546d9bc38a0f52f75c7902093 --- /dev/null +++ b/annotations/task-0047/episode_00470700.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12690, + "valid_duration": [0, 12690] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 435], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [435, 1291], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1291, 2266], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2266, 2730], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2730, 3013], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3013, 3252], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3252, 3687], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3687, 3883], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3884, 4080], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4080, 4947], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4947, 5912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5912, 6543], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6543, 6807], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6807, 7095], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["plate_233"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7095, 7262], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7262, 7842], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7842, 7927], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7927, 8534], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8534, 9483], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9483, 10005], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10005, 10261], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10261, 10512], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10512, 10767], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10767, 11483], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11483, 11794], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11794, 12284], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12284, 12690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1291], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1291, 2266], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2266, 2730], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2730, 3252], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3252, 3883], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3884, 4947], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4947, 5912], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5912, 6543], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6543, 7095], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7095, 7927], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7927, 9483], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9483, 12284], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12284, 12690], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470710.json b/annotations/task-0047/episode_00470710.json new file mode 100644 index 0000000000000000000000000000000000000000..e3b846a0ba7c9293b68eff897cb442c604cfb10e --- /dev/null +++ b/annotations/task-0047/episode_00470710.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12480, + "valid_duration": [0, 12480] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 624], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [624, 1629], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1630, 2863], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2863, 3330], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3330, 3504], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3507, 3728], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3729, 4216], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4217, 4383], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4392, 4605], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4605, 5567], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5567, 6681], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6681, 7254], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7255, 7386], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7387, 7678], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7678, 7797], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7797, 8290], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8294, 8476], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8476, 8940], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8941, 9811], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9816, 10215], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10215, 10562], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10568, 10650], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10650, 10902], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10902, 11585], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11585, 11809], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11810, 12240], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12241, 12480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1629], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1630, 2863], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2863, 3330], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3330, 3728], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3729, 4383], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4392, 5567], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5567, 6681], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6681, 7254], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7255, 7678], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7678, 8476], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8476, 9811], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9816, 12240], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12241, 12480], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470720.json b/annotations/task-0047/episode_00470720.json new file mode 100644 index 0000000000000000000000000000000000000000..a705362c378423a1ddd7c3a80dafb81a80033aa0 --- /dev/null +++ b/annotations/task-0047/episode_00470720.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12684, + "valid_duration": [0, 12684] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 380], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [380, 1295], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1295, 2457], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2457, 2922], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2922, 3115], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3115, 3330], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3330, 3914], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3914, 4077], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4077, 4249], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4249, 5144], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5144, 6299], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6299, 6918], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6918, 7192], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7192, 7484], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7484, 7574], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7574, 8209], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8209, 8562], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8562, 9058], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9058, 9914], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9914, 10265], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10265, 10742], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10742, 10885], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10885, 11103], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11103, 11743], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11743, 11961], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11961, 12414], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12414, 12684], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1295], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1295, 2457], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2457, 2922], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2922, 3330], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "tupperware_230"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3330, 4077], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4077, 5144], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5144, 6299], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6299, 6918], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6918, 7484], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7484, 8562], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8562, 9914], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9914, 12414], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12414, 12684], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470730.json b/annotations/task-0047/episode_00470730.json new file mode 100644 index 0000000000000000000000000000000000000000..c4d3ce1879ce2cd72cd61a83f7bd58e31e7fc84b --- /dev/null +++ b/annotations/task-0047/episode_00470730.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13075, + "valid_duration": [0, 13075] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 354], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [354, 1179], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1179, 1900], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1900, 2270], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2270, 2520], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2520, 2689], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2689, 3317], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3317, 3695], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3695, 4363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4363, 5346], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5346, 6127], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6127, 6443], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6443, 6891], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6891, 7036], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7036, 7157], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7157, 7552], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7552, 7897], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7897, 8490], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8490, 9677], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9677, 10233], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10233, 10482], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10482, 10509], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10509, 10709], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10709, 11336], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11336, 11577], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11577, 11972], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11972, 13075], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1179], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1179, 1900], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1900, 2270], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2270, 2689], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2689, 3695], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3695, 5346], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5346, 6127], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6127, 6443], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6443, 7036], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7036, 7897], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7897, 9677], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9677, 11972], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11972, 13075], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470770.json b/annotations/task-0047/episode_00470770.json new file mode 100644 index 0000000000000000000000000000000000000000..ab403a81e2d972c0b6c631c0cb620ed241005528 --- /dev/null +++ b/annotations/task-0047/episode_00470770.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10761, + "valid_duration": [0, 10761] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [364, 1261], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1262, 2229], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2229, 2539], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2539, 2663], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2663, 2988], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2988, 3336], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3336, 3476], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3476, 3646], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3646, 4544], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4544, 5148], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5148, 5651], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5651, 5803], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5810, 6115], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6116, 6224], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6224, 6681], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6681, 6804], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6805, 7281], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7285, 8074], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8074, 8407], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8407, 8841], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8841, 8940], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8940, 9204], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9205, 9878], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9878, 10133], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10134, 10536], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10536, 10761], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1261], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1262, 2229], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2229, 2539], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2539, 2988], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2988, 3476], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3476, 4544], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4544, 5148], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5148, 5651], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5651, 6115], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6116, 6804], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6805, 8074], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8074, 10536], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10536, 10761], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470780.json b/annotations/task-0047/episode_00470780.json new file mode 100644 index 0000000000000000000000000000000000000000..bfdc92488748b41d425265b6ceb84d4113d253b6 --- /dev/null +++ b/annotations/task-0047/episode_00470780.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11773, + "valid_duration": [0, 11773] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 346], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [346, 1415], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1415, 2517], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2517, 3048], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3048, 3347], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3347, 3581], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3581, 4002], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4002, 4140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4140, 4313], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4313, 5153], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5153, 5960], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5960, 6635], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6635, 6855], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6855, 7179], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7179, 7280], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7280, 7761], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7761, 7936], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7936, 8377], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8377, 9099], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9099, 9467], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9467, 9841], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9841, 9953], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9953, 10428], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10428, 10888], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10888, 11087], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11087, 11473], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11473, 11773], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1415], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1415, 2517], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2517, 3048], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3048, 3581], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3581, 4140], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4140, 5153], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5153, 5960], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5960, 6635], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6635, 7179], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7179, 7936], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7936, 9099], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9099, 11473], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11473, 11773], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470790.json b/annotations/task-0047/episode_00470790.json new file mode 100644 index 0000000000000000000000000000000000000000..dbccf1bc16897b1bc36f42b2decf5db9db85d40d --- /dev/null +++ b/annotations/task-0047/episode_00470790.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11277, + "valid_duration": [0, 11277] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 480], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [484, 1517], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1517, 2100], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2100, 2691], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2691, 2823], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2823, 3158], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3158, 3627], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3627, 3850], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3850, 4063], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4063, 5036], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5036, 5784], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5784, 6366], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6366, 6754], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6754, 6893], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6893, 7006], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7006, 7424], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7424, 7539], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7554, 7931], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7931, 8751], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8751, 9129], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9129, 9384], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9384, 9405], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9406, 9547], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9565, 10225], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10225, 10437], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10437, 10906], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10906, 11277], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1517], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1517, 2100], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2100, 2691], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2691, 3158], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3158, 3850], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3850, 5036], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5036, 5784], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5784, 6366], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6366, 6893], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6893, 7539], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7554, 8751], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8751, 10906], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10906, 11277], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470800.json b/annotations/task-0047/episode_00470800.json new file mode 100644 index 0000000000000000000000000000000000000000..214ed5de99127ba282fac534e3a8dd76280d2879 --- /dev/null +++ b/annotations/task-0047/episode_00470800.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11178, + "valid_duration": [0, 11178] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 698], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [698, 1579], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1579, 2426], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2426, 2749], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2749, 2955], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2955, 3181], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3181, 3818], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3818, 3927], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3927, 4140], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4140, 4918], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4918, 6131], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6131, 6571], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6571, 6723], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6726, 6986], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6986, 7076], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7076, 7546], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7546, 7634], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7634, 8079], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8079, 8847], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8847, 9216], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9216, 9556], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9556, 9635], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9636, 10109], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10109, 10451], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10452, 10627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10627, 10959], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10959, 11178], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1579], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1579, 2426], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2426, 2749], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2749, 3181], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3181, 3927], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3927, 4918], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4918, 6131], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6131, 6571], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6571, 6986], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6986, 7634], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7634, 8847], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8847, 10959], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10959, 11178], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470820.json b/annotations/task-0047/episode_00470820.json new file mode 100644 index 0000000000000000000000000000000000000000..50ac24812a0cf3dfe6d8da9ded76c2948df0c57d --- /dev/null +++ b/annotations/task-0047/episode_00470820.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12513, + "valid_duration": [0, 12513] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 676], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [676, 1414], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1414, 2169], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2169, 2769], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2770, 2902], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2902, 3296], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3296, 3783], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3783, 3978], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3978, 4136], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4136, 5226], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5226, 6109], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6110, 6829], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6830, 6984], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6984, 7263], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7263, 7293], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7293, 7686], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7686, 7860], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7860, 8449], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8450, 9400], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9401, 9903], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9903, 10146], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10146, 10373], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10374, 10659], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10659, 11340], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11340, 11556], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11556, 12003], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12003, 12513], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1414], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1414, 2169], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2169, 2769], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2770, 3296], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3296, 3978], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3978, 5226], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5226, 6109], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6110, 6829], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6830, 7263], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7263, 7860], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7860, 9400], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9401, 12003], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12003, 12513], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470830.json b/annotations/task-0047/episode_00470830.json new file mode 100644 index 0000000000000000000000000000000000000000..4ccf0e112851d4d4ecec1d102243e7c7cc70d0b6 --- /dev/null +++ b/annotations/task-0047/episode_00470830.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11130, + "valid_duration": [0, 11130] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 357], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [357, 1278], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1278, 2343], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2343, 2777], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2777, 3118], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3118, 3443], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3443, 3877], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3878, 3994], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3994, 4263], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4263, 5163], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5163, 6333], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6333, 6841], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6841, 6959], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6989, 7262], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7262, 7755], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7755, 7874], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7874, 8284], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8285, 9093], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9093, 9282], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9282, 9606], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9613, 9810], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9810, 10381], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10382, 10560], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10560, 10928], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10928, 11130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1278], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1278, 2343], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2343, 2777], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2777, 3443], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3443, 3994], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3994, 5163], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5163, 6333], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6333, 6841], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6841, 7262], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7262, 7874], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7874, 9093], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9093, 10928], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10928, 11130], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470850.json b/annotations/task-0047/episode_00470850.json new file mode 100644 index 0000000000000000000000000000000000000000..700dc49a45af32b1bcab5085dea913e703ab9a30 --- /dev/null +++ b/annotations/task-0047/episode_00470850.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11315, + "valid_duration": [0, 11315] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 74], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [74, 888], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [888, 1659], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1659, 2169], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2169, 2375], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2375, 2659], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2659, 3276], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3276, 3378], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3378, 3684], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3684, 4534], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4534, 5589], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5589, 6136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6136, 6358], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6358, 6619], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6619, 6766], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6766, 7368], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7368, 7485], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7485, 7920], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7920, 8808], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8808, 9135], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9135, 9460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9460, 9614], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9614, 10272], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10272, 10566], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10566, 11063], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11063, 11315], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 888], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [888, 1659], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1659, 2169], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2169, 2659], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2659, 3378], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3378, 4534], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4534, 5589], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5589, 6136], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6136, 6619], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6619, 7485], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7485, 8808], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8808, 11063], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11063, 11315], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470870.json b/annotations/task-0047/episode_00470870.json new file mode 100644 index 0000000000000000000000000000000000000000..42fd631e9547d4df2947d72e52d743fe06e3dfcd --- /dev/null +++ b/annotations/task-0047/episode_00470870.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11265, + "valid_duration": [0, 11265] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 177], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [177, 1101], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1101, 1853], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1853, 2209], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2209, 2337], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2337, 2600], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2600, 3112], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3113, 3318], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3318, 3522], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3522, 4749], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4749, 5459], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5459, 5862], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5862, 6057], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6057, 6334], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6334, 6367], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6367, 6805], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6806, 6894], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6908, 7452], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7452, 8313], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8314, 8781], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8781, 9201], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9201, 9270], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9270, 9585], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9585, 10230], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10230, 10458], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10459, 10826], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10838, 11265], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1101], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1101, 1853], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1853, 2209], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2209, 2600], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2600, 3318], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3318, 4749], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4749, 5459], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5459, 5862], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5862, 6334], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6334, 6894], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6908, 8313], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8314, 10826], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10838, 11265], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470880.json b/annotations/task-0047/episode_00470880.json new file mode 100644 index 0000000000000000000000000000000000000000..f3b2f55ce1e71c0d35e730f4e38e70c90ff73de4 --- /dev/null +++ b/annotations/task-0047/episode_00470880.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13177, + "valid_duration": [0, 13177] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 505], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [506, 1576], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1576, 2353], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2353, 2946], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2946, 3300], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3303, 3570], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3588, 4227], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4227, 4358], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4367, 4590], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4593, 5718], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5718, 6811], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6811, 7388], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7389, 7587], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7587, 7979], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7982, 8083], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8083, 8706], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8706, 8823], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8824, 9287], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9288, 10206], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10206, 10596], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10596, 10991], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10991, 11203], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11203, 11586], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11586, 12174], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12174, 12447], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12447, 12900], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12918, 13177], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1576], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1576, 2353], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2353, 2946], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2946, 3570], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3588, 4358], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4367, 5718], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5718, 6811], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6811, 7388], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7389, 7979], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7982, 8823], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8824, 10206], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10206, 12900], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12918, 13177], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470890.json b/annotations/task-0047/episode_00470890.json new file mode 100644 index 0000000000000000000000000000000000000000..84f38c01e461648459becd8e38aedadb075b16cd --- /dev/null +++ b/annotations/task-0047/episode_00470890.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10946, + "valid_duration": [0, 10946] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 156], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [156, 1024], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1025, 1709], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1709, 2379], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2381, 2641], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2642, 2931], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2931, 3459], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3459, 3558], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3558, 3795], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3802, 4798], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4798, 5394], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5395, 6069], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6069, 6273], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6273, 6543], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6561, 7075], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7076, 7183], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7183, 7649], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7650, 8455], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8455, 8850], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8850, 9064], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9064, 9222], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9223, 9939], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9939, 10154], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10154, 10545], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10555, 10946], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1024], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1025, 1709], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1709, 2379], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2381, 2931], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2931, 3558], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3558, 4798], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4798, 5394], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5395, 6069], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6069, 6543], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6561, 7183], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7183, 8455], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8455, 10545], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10555, 10946], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470910.json b/annotations/task-0047/episode_00470910.json new file mode 100644 index 0000000000000000000000000000000000000000..89d85f192fb45b064d6f50c3215b6542788b2f01 --- /dev/null +++ b/annotations/task-0047/episode_00470910.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12690, + "valid_duration": [0, 12690] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 420], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [420, 1226], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1227, 2253], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2253, 2613], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2613, 3003], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3003, 3189], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3189, 3765], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3765, 4025], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4026, 4290], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [4290, 5514], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5514, 6069], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [6069, 6498], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6498, 6954], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6954, 7098], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7098, 7152], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7152, 7566], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7566, 7856], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7857, 8334], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8334, 9249], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9249, 9765], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9765, 9948], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9948, 9981], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9981, 10263], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10263, 10821], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10821, 11139], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11139, 11655], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11655, 12690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1226], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1227, 2253], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2253, 2613], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2613, 3189], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3189, 4025], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [4026, 5514], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5514, 6069], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [6069, 6498], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6498, 7098], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7098, 7856], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7857, 9249], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9249, 11655], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11655, 12690], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470940.json b/annotations/task-0047/episode_00470940.json new file mode 100644 index 0000000000000000000000000000000000000000..046d9e5db4e95a7d108c3306c21cdc1a65d2a4b2 --- /dev/null +++ b/annotations/task-0047/episode_00470940.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11220, + "valid_duration": [0, 11220] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 240], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [240, 1107], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1107, 2049], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2109, 2689], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2692, 2859], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2859, 3166], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3166, 3741], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3741, 3886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3886, 4190], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4190, 4969], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4969, 6021], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6021, 6630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6630, 6753], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6753, 6923], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6923, 6966], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6966, 7297], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7297, 7429], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7429, 8109], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8109, 8789], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8789, 9242], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9242, 9524], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9524, 9635], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9635, 10419], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10419, 10592], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10592, 10999], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10999, 11220], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1107], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1107, 2049], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2109, 2689], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2692, 3166], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3166, 3886], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3886, 4969], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4969, 6021], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6021, 6630], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6630, 6923], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6923, 7429], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7429, 8789], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8789, 10999], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10999, 11220], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470950.json b/annotations/task-0047/episode_00470950.json new file mode 100644 index 0000000000000000000000000000000000000000..8b3840f12d43373b65091603ceed5562e2929708 --- /dev/null +++ b/annotations/task-0047/episode_00470950.json @@ -0,0 +1,457 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 21777, + "valid_duration": [0, 21777] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 282], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [282, 2606], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [2606, 4137], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4137, 5281], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5281, 5915], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5915, 6280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6280, 6454], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 7, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6454, 6992], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 8, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6992, 7230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7230, 7676], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 10, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [7676, 8293], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [8293, 9498], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["bottom_cabinet_no_top_gjeoer_0"], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [9500, 10850], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10856, 11220], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11220, 11506], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11506, 12228], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12228, 12746], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12746, 13300], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": ["fridge_dszchb_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13300, 15052], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [15052, 15981], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [15981, 16575], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [16575, 16786], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [16786, 17322], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [17322, 18104], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [18104, 18911], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [18911, 20346], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [20346, 21777], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door", "first_left_door"]]], + "frame_duration": [0, 4137], + "skill_idxes": [0, 1, 2] + }, + { + "primitive_idx": 1, + "primitive_id": [2, 3], + "primitive_description": ["pick up from", "place on"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"], ["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231", "tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]], []], + "frame_duration": [4137, 6280], + "skill_idxes": [3, 4, 5] + }, + { + "primitive_idx": 2, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6280, 7230], + "skill_idxes": [6, 7, 8] + }, + { + "primitive_idx": 3, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [7230, 8293], + "skill_idxes": [9, 10] + }, + { + "primitive_idx": 4, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [8293, 9498], + "skill_idxes": [11] + }, + { + "primitive_idx": 5, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["bottom_cabinet_no_top_gjeoer_0"], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [9500, 10850], + "skill_idxes": [12] + }, + { + "primitive_idx": 6, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10856, 11506], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 7, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [11506, 12746], + "skill_idxes": [15, 16] + }, + { + "primitive_idx": 8, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": ["fridge_dszchb_0"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12746, 15052], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [15052, 20346], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 10, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [20346, 21777], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470960.json b/annotations/task-0047/episode_00470960.json new file mode 100644 index 0000000000000000000000000000000000000000..a97808011263928198bab3c2ea4d9c0f49ce312e --- /dev/null +++ b/annotations/task-0047/episode_00470960.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11739, + "valid_duration": [0, 11739] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 423], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [423, 1199], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1199, 1688], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1688, 2136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2137, 2517], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2517, 2694], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2694, 3564], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3564, 3851], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3851, 4045], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4045, 5000], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5000, 5380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5380, 5743], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5743, 6148], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6149, 6334], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["plate_232"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6334, 6469], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6478, 6858], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6858, 7198], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7204, 7573], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7573, 8581], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8581, 9096], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9096, 9352], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9352, 9446], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9447, 9653], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9654, 10173], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10173, 10489], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10490, 10855], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10855, 11739], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1199], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1199, 1688], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1688, 2136], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2137, 2694], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2694, 3851], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3851, 5000], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5000, 5380], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5380, 5743], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5743, 6334], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6334, 7198], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7204, 8581], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8581, 10855], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10855, 11739], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470970.json b/annotations/task-0047/episode_00470970.json new file mode 100644 index 0000000000000000000000000000000000000000..be5051f0fd4580ca8d2ef864fa6c21e6b152b718 --- /dev/null +++ b/annotations/task-0047/episode_00470970.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13525, + "valid_duration": [0, 13525] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 199], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [232, 1331], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1331, 2122], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2122, 2817], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2817, 2978], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3001, 3444], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3444, 4042], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4042, 4215], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4216, 4456], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4457, 5653], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5653, 6405], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6405, 7090], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7090, 7136], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7197, 7448], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7449, 7756], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7756, 8151], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8151, 8334], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8335, 9054], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9058, 10061], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10062, 10644], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10644, 10995], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10995, 11049], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11055, 11151], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11152, 12093], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12097, 12358], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12359, 13033], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13033, 13525], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1331], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1331, 2122], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2122, 2817], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2817, 3444], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3444, 4215], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4216, 5653], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5653, 6405], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6405, 7090], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7090, 7448], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7449, 8334], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8335, 10061], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10062, 13033], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13033, 13525], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470980.json b/annotations/task-0047/episode_00470980.json new file mode 100644 index 0000000000000000000000000000000000000000..d9fd89b9bcda96bcc1e747bffe5f2eba735c4b5a --- /dev/null +++ b/annotations/task-0047/episode_00470980.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 21822, + "valid_duration": [60, 21882] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [60, 498], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [498, 2685], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2685, 3540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [3540, 4341], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4341, 4755], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4755, 5290], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5290, 5918], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5918, 6311], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6311, 6597], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6597, 8689], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [8713, 10716], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [10767, 11876], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11876, 12444], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12444, 12771], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [12771, 13065], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [13065, 13693], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13693, 14133], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14133, 14574], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14574, 16634], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [16648, 17406], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [17406, 17834], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [17834, 17928], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [17928, 19286], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [19286, 19785], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [19785, 21185], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [21185, 21882], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [60, 2685], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [2685, 3540], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [3540, 4341], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4341, 5290], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5290, 6311], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6311, 8689], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [8713, 10716], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [10767, 11876], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11876, 12771], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [12771, 14133], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14133, 16634], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [16648, 21185], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [21185, 21882], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00470990.json b/annotations/task-0047/episode_00470990.json new file mode 100644 index 0000000000000000000000000000000000000000..d8b0432f1ab59e28f56189bba102c9f5d50b8a2f --- /dev/null +++ b/annotations/task-0047/episode_00470990.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11400, + "valid_duration": [0, 11400] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 456], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [456, 1383], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1383, 1980], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1980, 2565], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2565, 3009], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3009, 3132], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3132, 3708], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3708, 3807], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3807, 3998], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3998, 4867], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4867, 5880], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5880, 6382], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6382, 6639], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6639, 6743], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6743, 6842], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6842, 7305], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7305, 7445], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7445, 7973], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7974, 8760], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8760, 9149], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9149, 9427], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9428, 9507], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9507, 9834], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9834, 10555], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10555, 10760], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10760, 11211], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11211, 11400], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1383], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1383, 1980], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1980, 2565], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2565, 3132], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3132, 3807], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3807, 4867], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4867, 5880], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5880, 6382], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6382, 6743], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6743, 7445], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7445, 8760], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8760, 11211], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11211, 11400], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471000.json b/annotations/task-0047/episode_00471000.json new file mode 100644 index 0000000000000000000000000000000000000000..6e7134fcf0b46eb8b264bf8ddc688108591d1227 --- /dev/null +++ b/annotations/task-0047/episode_00471000.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13077, + "valid_duration": [0, 13077] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 63], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [63, 1494], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1494, 2506], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2506, 3344], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3344, 3850], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3850, 4079], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4080, 4403], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4404, 4656], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4657, 4751], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4752, 5811], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5811, 6507], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6507, 7297], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7297, 7590], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7590, 7661], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["plate_232"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7661, 8025], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8025, 8356], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8357, 8704], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8705, 8997], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8997, 9985], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9985, 10523], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10523, 10784], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10784, 11092], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11092, 11448], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11448, 11922], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11922, 12207], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12207, 12602], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12603, 13077], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1494], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1494, 2506], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2506, 3344], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3344, 4079], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4080, 4656], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4657, 5811], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5811, 6507], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6507, 7297], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7297, 7661], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7661, 8704], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8705, 9985], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9985, 12602], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12603, 13077], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471010.json b/annotations/task-0047/episode_00471010.json new file mode 100644 index 0000000000000000000000000000000000000000..ed4eb539b35d08a8822e59d6e6afb46dbc876a32 --- /dev/null +++ b/annotations/task-0047/episode_00471010.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 15210, + "valid_duration": [0, 15210] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 796], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [796, 1674], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1674, 2346], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2447, 3205], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3205, 3408], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3408, 3783], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3783, 4608], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4608, 4758], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4758, 5052], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5052, 6007], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [6007, 7203], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [7203, 8108], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8108, 8349], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8349, 8706], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8706, 8798], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8798, 9900], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9900, 10146], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10146, 10704], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10704, 11694], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11694, 12120], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12121, 12420], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [12420, 12429], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [12429, 12634], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [12634, 13720], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [13720, 14073], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [14073, 14706], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14706, 15210], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1674], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1674, 2346], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2447, 3205], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3205, 3783], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3783, 4758], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4758, 6007], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [6007, 7203], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [7203, 8108], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8108, 8706], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8706, 10146], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10146, 11694], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [11694, 14706], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [14706, 15210], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471020.json b/annotations/task-0047/episode_00471020.json new file mode 100644 index 0000000000000000000000000000000000000000..78a3b96a8d89740ca77c70e304d271d3a26f5932 --- /dev/null +++ b/annotations/task-0047/episode_00471020.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11940, + "valid_duration": [0, 11940] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 404], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [404, 1306], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1310, 2404], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2404, 2947], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2947, 3351], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3351, 3564], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3645, 4191], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4191, 4287], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4287, 4468], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4468, 5236], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5237, 5904], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5905, 6642], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6642, 6892], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6892, 7140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7168, 7277], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7277, 7651], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7651, 7830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7830, 8298], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8298, 8968], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8969, 9402], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9405, 9692], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9776, 9962], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9962, 10213], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10214, 10830], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10830, 11067], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11067, 11567], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11573, 11940], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1306], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1310, 2404], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2404, 2947], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2947, 3564], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3645, 4287], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4287, 5236], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5237, 5904], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5905, 6642], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6642, 7140], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7168, 7830], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7830, 8968], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8969, 11567], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11573, 11940], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471030.json b/annotations/task-0047/episode_00471030.json new file mode 100644 index 0000000000000000000000000000000000000000..c9a8661377e30ac9b1400741e65062505a3de51c --- /dev/null +++ b/annotations/task-0047/episode_00471030.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11934, + "valid_duration": [0, 11934] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 249], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [249, 1221], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1221, 1979], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1980, 2286], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2286, 2697], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2697, 2841], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2841, 3408], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3408, 3741], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3741, 3819], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3819, 4875], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4875, 5448], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5448, 6012], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6012, 6435], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6435, 6594], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6594, 6625], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6625, 7017], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7017, 7134], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7134, 7701], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7701, 8682], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8682, 9174], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9180, 9378], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9378, 9669], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9669, 9855], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9855, 10437], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10437, 10686], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10686, 11028], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11028, 11934], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1221], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1221, 1979], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1980, 2286], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2286, 2841], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2841, 3741], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3741, 4875], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4875, 5448], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5448, 6012], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6012, 6594], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6594, 7134], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7134, 8682], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8682, 11028], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11028, 11934], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471050.json b/annotations/task-0047/episode_00471050.json new file mode 100644 index 0000000000000000000000000000000000000000..2e7e32356a514e61dba56bf8c76bafc702a8fbaa --- /dev/null +++ b/annotations/task-0047/episode_00471050.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12934, + "valid_duration": [0, 12934] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 352], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [352, 1659], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1659, 2324], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2324, 2970], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2970, 3366], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3366, 3622], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3622, 4194], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4194, 4329], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4329, 4778], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4778, 6028], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [6028, 6707], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6708, 7203], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7203, 7488], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7488, 7881], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7881, 8025], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8025, 8821], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8821, 9004], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9004, 9434], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9434, 10445], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10445, 10644], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10644, 11086], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11086, 11237], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11237, 11882], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11882, 12141], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12141, 12602], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12602, 12934], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1659], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1659, 2324], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2324, 2970], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2970, 3622], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3622, 4329], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4329, 6028], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [6028, 6707], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6708, 7203], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7203, 7881], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7881, 9004], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9004, 10445], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10445, 12602], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12602, 12934], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471060.json b/annotations/task-0047/episode_00471060.json new file mode 100644 index 0000000000000000000000000000000000000000..aa34e417c2dba4ff536dac791d4f1521a33fdd4e --- /dev/null +++ b/annotations/task-0047/episode_00471060.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12140, + "valid_duration": [0, 12140] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 351], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [351, 1306], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1307, 1981], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1981, 2653], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2653, 2794], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2794, 3083], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3084, 3631], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3631, 3727], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3749, 4039], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4040, 5311], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5311, 6282], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6282, 6835], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6840, 7191], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7206, 7482], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7482, 7571], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7571, 8230], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8230, 8348], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8348, 8853], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8853, 9728], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9728, 9958], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9958, 10271], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10271, 10290], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10290, 10443], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10443, 11097], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11097, 11303], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11303, 11711], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11711, 12140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1306], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1307, 1981], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1981, 2653], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2653, 3083], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3084, 3727], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3749, 5311], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5311, 6282], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6282, 6835], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6840, 7482], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7482, 8348], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8348, 9728], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9728, 11711], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11711, 12140], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471070.json b/annotations/task-0047/episode_00471070.json new file mode 100644 index 0000000000000000000000000000000000000000..4e17f0be4f779945a9c447580337efce664781a9 --- /dev/null +++ b/annotations/task-0047/episode_00471070.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13027, + "valid_duration": [0, 13027] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 511], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [511, 1540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1540, 2460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2460, 3201], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3201, 3429], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3429, 3560], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3560, 4129], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4129, 4290], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4290, 4499], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4499, 5686], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5686, 6567], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6567, 7237], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7237, 7347], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7347, 7783], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7783, 8416], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8416, 8590], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8590, 9088], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9088, 10007], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10007, 10500], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10500, 10944], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10944, 11089], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11089, 11511], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11511, 12003], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12003, 12251], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12251, 12657], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12657, 13027], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1540], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1540, 2460], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2460, 3201], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3201, 3560], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3560, 4290], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4290, 5686], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5686, 6567], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6567, 7237], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7237, 7783], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7783, 8590], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8590, 10007], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10007, 12657], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12657, 13027], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471080.json b/annotations/task-0047/episode_00471080.json new file mode 100644 index 0000000000000000000000000000000000000000..25100e03c8d5ab8c8272ae3d86f3aaf840eae5cf --- /dev/null +++ b/annotations/task-0047/episode_00471080.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10671, + "valid_duration": [0, 10671] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 190], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [190, 1000], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1000, 1572], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1572, 1977], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1977, 2455], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2458, 2774], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2774, 3258], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3258, 3384], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3384, 3714], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3718, 4500], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4500, 5059], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5059, 5550], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5550, 5832], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5836, 6166], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6166, 6237], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6237, 7009], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7009, 7296], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7299, 7746], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7746, 8475], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8475, 8802], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8802, 8980], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8980, 9139], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9139, 9786], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9789, 9958], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9958, 10351], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10351, 10671], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1000], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1000, 1572], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1572, 1977], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1977, 2774], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2774, 3384], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3384, 4500], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4500, 5059], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5059, 5550], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5550, 6166], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6166, 7296], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7299, 8475], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8475, 10351], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10351, 10671], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471090.json b/annotations/task-0047/episode_00471090.json new file mode 100644 index 0000000000000000000000000000000000000000..2af113055337350d62a5f1afa12f90a438a17d81 --- /dev/null +++ b/annotations/task-0047/episode_00471090.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11496, + "valid_duration": [0, 11496] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 404], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [404, 1511], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1511, 2370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2370, 2920], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2920, 3060], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3060, 3360], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3360, 3773], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3773, 4028], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4028, 4224], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4224, 5172], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5172, 6030], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6030, 6570], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6570, 6755], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6755, 7007], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7007, 7117], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7117, 7481], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7481, 7605], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7605, 8004], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8004, 8868], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8868, 9210], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9210, 9738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9738, 9870], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9870, 10068], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10068, 10673], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10673, 10858], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10858, 11268], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11268, 11496], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1511], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1511, 2370], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2370, 2920], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2920, 3360], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3360, 4028], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4028, 5172], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5172, 6030], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6030, 6570], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6570, 7007], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7007, 7605], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7605, 8868], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8868, 11268], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11268, 11496], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471110.json b/annotations/task-0047/episode_00471110.json new file mode 100644 index 0000000000000000000000000000000000000000..e583e1a9ab9efce485c813d12c3d1b8558795803 --- /dev/null +++ b/annotations/task-0047/episode_00471110.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11298, + "valid_duration": [0, 11298] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 428], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [428, 1371], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1371, 2130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2130, 2715], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2715, 2982], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2982, 3194], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3194, 3759], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3759, 3885], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3885, 4215], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4215, 5070], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5070, 6139], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6139, 6681], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6681, 6813], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6813, 7029], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7029, 7074], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7074, 7395], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7395, 7497], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7497, 8111], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8112, 8883], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8883, 9114], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9114, 9540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9540, 9657], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9657, 9840], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9840, 10479], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10479, 10674], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10674, 11007], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11007, 11298], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1371], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1371, 2130], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2130, 2715], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2715, 3194], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3194, 3885], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3885, 5070], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5070, 6139], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6139, 6681], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6681, 7029], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7029, 7497], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7497, 8883], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8883, 11007], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11007, 11298], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471130.json b/annotations/task-0047/episode_00471130.json new file mode 100644 index 0000000000000000000000000000000000000000..2d99741e63436a618213d29eacf8bb51d0733382 --- /dev/null +++ b/annotations/task-0047/episode_00471130.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12066, + "valid_duration": [0, 12066] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 341], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [341, 1363], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1363, 2151], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2151, 2649], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2649, 2805], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2805, 3072], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3072, 3680], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3680, 3836], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3836, 4074], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4074, 4917], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4917, 5654], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5654, 6261], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6262, 6540], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6540, 6895], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6895, 7465], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7465, 7615], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7615, 8220], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8229, 9102], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9102, 9550], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9550, 9804], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9804, 10050], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10050, 10834], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10834, 11116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11116, 11669], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11669, 12066], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1363], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1363, 2151], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2151, 2649], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2649, 3072], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3072, 3836], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3836, 4917], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4917, 5654], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5654, 6261], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6262, 6895], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6895, 7615], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7615, 9102], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9102, 11669], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11669, 12066], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471140.json b/annotations/task-0047/episode_00471140.json new file mode 100644 index 0000000000000000000000000000000000000000..d12a0faf105d950d4e98cb5476df6eb5d4ec0132 --- /dev/null +++ b/annotations/task-0047/episode_00471140.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11553, + "valid_duration": [0, 11553] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 378], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [391, 1522], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1522, 2119], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2119, 2690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2690, 3004], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3004, 3271], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "countertop_kelzer_0"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3271, 3873], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3873, 3997], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3997, 4144], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4157, 5194], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5194, 5703], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5703, 6177], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6180, 6436], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6436, 6553], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6553, 6631], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "countertop_kelzer_0"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6631, 7263], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7263, 7414], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7414, 8011], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8011, 8688], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8688, 9067], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9067, 9361], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9361, 9482], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9483, 9586], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9586, 10389], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10389, 10607], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10608, 11200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11200, 11553], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1522], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1522, 2119], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2119, 2690], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2690, 3271], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "countertop_kelzer_0"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3271, 3997], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3997, 5194], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5194, 5703], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5703, 6177], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6180, 6553], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "countertop_kelzer_0"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6553, 7414], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7414, 8688], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8688, 11200], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11200, 11553], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471150.json b/annotations/task-0047/episode_00471150.json new file mode 100644 index 0000000000000000000000000000000000000000..798dfd24f884365a637113b896b3f6cd3afe3618 --- /dev/null +++ b/annotations/task-0047/episode_00471150.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12111, + "valid_duration": [0, 12111] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 324], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [324, 1095], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1095, 2014], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2015, 2538], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2538, 2956], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2956, 3214], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3214, 3719], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3719, 3895], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3895, 4149], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4149, 5223], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5254, 6030], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6030, 6586], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6586, 7083], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7083, 7223], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7224, 7266], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7266, 7791], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7791, 7910], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7910, 8398], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8398, 9208], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9221, 9657], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9658, 9940], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9940, 10134], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10137, 10387], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10388, 11029], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11029, 11268], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11268, 11762], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11763, 12111], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1095], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1095, 2014], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2015, 2538], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2538, 3214], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3214, 3895], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3895, 5223], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5254, 6030], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6030, 6586], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6586, 7223], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7224, 7910], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7910, 9208], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9221, 11762], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11763, 12111], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471160.json b/annotations/task-0047/episode_00471160.json new file mode 100644 index 0000000000000000000000000000000000000000..74bf24e723d2518b07b31c546d9dec99106f0e14 --- /dev/null +++ b/annotations/task-0047/episode_00471160.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12069, + "valid_duration": [0, 12069] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 456], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [457, 1463], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1463, 2029], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2030, 2490], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2490, 2720], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2720, 2989], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2990, 3536], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3536, 3753], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3753, 4030], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4030, 4950], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4950, 5800], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5801, 6570], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6570, 6963], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6963, 7273], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7274, 7295], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7295, 8059], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8060, 8229], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8229, 8722], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8722, 9580], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9580, 9790], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9790, 10260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10260, 10290], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10290, 10410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10410, 11079], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11080, 11319], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11320, 11769], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11770, 12069], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1463], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1463, 2029], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2030, 2490], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2490, 2989], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2990, 3753], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3753, 4950], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4950, 5800], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5801, 6570], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6570, 7273], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7274, 8229], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8229, 9580], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9580, 11769], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11770, 12069], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471180.json b/annotations/task-0047/episode_00471180.json new file mode 100644 index 0000000000000000000000000000000000000000..ed7f60d27b5e20354a4f23725fad855fbf87c37f --- /dev/null +++ b/annotations/task-0047/episode_00471180.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11864, + "valid_duration": [0, 11864] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 373], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [373, 1438], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1438, 2073], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2073, 2700], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2700, 3043], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3043, 3277], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3278, 3720], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3720, 3930], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3930, 4083], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4083, 5196], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5196, 5712], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5712, 6401], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6401, 6661], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6661, 6985], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7075, 7096], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7096, 7546], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7546, 7657], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7657, 8137], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8137, 9033], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9033, 9429], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9429, 9792], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9792, 9954], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9954, 10180], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10185, 10780], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10780, 11049], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11049, 11535], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11535, 11864], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1438], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1438, 2073], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2073, 2700], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2700, 3277], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3278, 3930], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3930, 5196], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5196, 5712], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5712, 6401], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6401, 6985], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7075, 7657], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7657, 9033], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9033, 11535], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11535, 11864], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471190.json b/annotations/task-0047/episode_00471190.json new file mode 100644 index 0000000000000000000000000000000000000000..178be08b4541ab4d7605027162d6cdd721c80de2 --- /dev/null +++ b/annotations/task-0047/episode_00471190.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12450, + "valid_duration": [0, 12450] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 403], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [421, 1423], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1439, 2516], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2547, 3079], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3080, 3596], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3596, 3780], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3785, 4325], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4325, 4460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4460, 4775], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4800, 5973], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5973, 6688], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6710, 7384], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7384, 7658], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7658, 8009], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8009, 8636], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8636, 8828], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8828, 9324], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9324, 10148], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10148, 10472], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10472, 10738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10738, 10873], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10876, 11471], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11471, 11696], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11696, 12137], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12138, 12450], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1423], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1439, 2516], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2547, 3079], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3080, 3780], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3785, 4460], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4460, 5973], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5973, 6688], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6710, 7384], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7384, 8009], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8009, 8828], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8828, 10148], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10148, 12137], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12138, 12450], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471200.json b/annotations/task-0047/episode_00471200.json new file mode 100644 index 0000000000000000000000000000000000000000..c5642ddcdd3a6911f61c09302165ab54a9a96e14 --- /dev/null +++ b/annotations/task-0047/episode_00471200.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12404, + "valid_duration": [0, 12404] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 319], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [319, 1398], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1398, 2338], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2338, 3057], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3057, 3398], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3398, 3670], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "apple_pie_234"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3670, 4282], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4282, 4425], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4425, 4845], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4845, 5984], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5984, 6816], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6816, 7497], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7497, 7626], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7626, 7893], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7893, 8070], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8070, 8557], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8557, 8670], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8670, 9102], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9102, 9934], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9934, 10195], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10195, 10470], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10470, 10506], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10506, 10692], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10692, 11395], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11395, 11609], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11609, 12075], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12075, 12404], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1398], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1398, 2338], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2338, 3057], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3057, 3670], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "apple_pie_234"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3670, 4425], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4425, 5984], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5984, 6816], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6816, 7497], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7497, 7893], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7893, 8670], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8670, 9934], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9934, 12075], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12075, 12404], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471210.json b/annotations/task-0047/episode_00471210.json new file mode 100644 index 0000000000000000000000000000000000000000..8da183e8e33d4d6946c3a72a7493c63b3a23a3c2 --- /dev/null +++ b/annotations/task-0047/episode_00471210.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12643, + "valid_duration": [0, 12643] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 373], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [373, 1594], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1595, 2287], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2287, 2855], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2855, 3375], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3389, 3711], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3711, 4155], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4169, 4349], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4349, 4559], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4559, 5951], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5952, 6698], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6698, 7422], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7422, 7623], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7626, 7881], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7881, 7935], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7954, 8472], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8472, 8729], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8729, 9127], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9149, 10020], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10020, 10205], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10205, 10518], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10518, 10899], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10899, 11312], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11312, 11623], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11623, 12206], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12207, 12643], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1594], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1595, 2287], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2287, 2855], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2855, 3711], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3711, 4349], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4349, 5951], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5952, 6698], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6698, 7422], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7422, 7881], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7881, 8729], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8729, 10020], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10020, 12206], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12207, 12643], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471220.json b/annotations/task-0047/episode_00471220.json new file mode 100644 index 0000000000000000000000000000000000000000..486b233913872b89cdedbaa994cdf3234aaf0fa3 --- /dev/null +++ b/annotations/task-0047/episode_00471220.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11469, + "valid_duration": [0, 11469] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 310], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [311, 1144], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1144, 2016], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2016, 2436], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2466, 2607], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2607, 2826], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2826, 3306], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3306, 3435], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3436, 3645], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3645, 4558], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4558, 5270], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5270, 5970], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5970, 6180], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6180, 6451], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6451, 7066], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7066, 7254], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7254, 7692], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7692, 8508], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8508, 8985], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8985, 9346], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9346, 9547], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9548, 9826], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9826, 10449], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10449, 10659], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10659, 11109], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11109, 11469], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1144], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1144, 2016], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2016, 2436], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2466, 2826], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2826, 3435], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3436, 4558], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4558, 5270], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5270, 5970], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5970, 6451], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6451, 7254], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7254, 8508], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8508, 11109], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11109, 11469], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471230.json b/annotations/task-0047/episode_00471230.json new file mode 100644 index 0000000000000000000000000000000000000000..51f704d8d019301db374ef22ba81a168ba1f58bb --- /dev/null +++ b/annotations/task-0047/episode_00471230.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12141, + "valid_duration": [0, 12141] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 323], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [323, 1460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1490, 2143], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2143, 2550], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2591, 2752], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2752, 3009], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3009, 3523], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3523, 3670], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3670, 3894], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3897, 5189], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5190, 6077], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6078, 6503], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6510, 6765], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6771, 6914], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6915, 6929], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6929, 7347], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7347, 7450], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7450, 8037], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8037, 9021], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9021, 9315], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9315, 9608], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9609, 9660], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9660, 10034], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10034, 10790], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10790, 11135], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11135, 11627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11627, 12141], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1460], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1490, 2143], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2143, 2550], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2591, 3009], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3009, 3670], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3670, 5189], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5190, 6077], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6078, 6503], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6510, 6914], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6915, 7450], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7450, 9021], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9021, 11627], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11627, 12141], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471240.json b/annotations/task-0047/episode_00471240.json new file mode 100644 index 0000000000000000000000000000000000000000..509cfce725237e5d46374873587d2b6027e0c6ab --- /dev/null +++ b/annotations/task-0047/episode_00471240.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11580, + "valid_duration": [0, 11580] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 228], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [228, 1319], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1319, 1945], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1975, 2581], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2581, 2702], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2702, 2930], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2930, 3586], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3586, 3729], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3729, 3969], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3999, 4982], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4982, 5975], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5975, 6667], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6667, 6925], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6925, 7270], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7270, 7836], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7836, 7926], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7926, 8342], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8342, 9220], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9220, 9542], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9542, 9811], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9811, 9833], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9833, 9959], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9959, 10624], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10624, 10854], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10854, 11265], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11265, 11580], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1319], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1319, 1945], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1975, 2581], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2581, 2930], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2930, 3729], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3729, 4982], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4982, 5975], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5975, 6667], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6667, 7270], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7270, 7926], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7926, 9220], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9220, 11265], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11265, 11580], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471250.json b/annotations/task-0047/episode_00471250.json new file mode 100644 index 0000000000000000000000000000000000000000..cb67b812513c2603df079c4aa852c973edf2a41c --- /dev/null +++ b/annotations/task-0047/episode_00471250.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11904, + "valid_duration": [0, 11904] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 483], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [483, 1399], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1399, 2014], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2014, 2614], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2615, 2953], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2953, 3206], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3206, 3669], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3669, 3852], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3853, 4197], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4197, 5086], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5086, 6101], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6101, 6526], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6526, 6801], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6801, 7048], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7048, 7114], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7114, 7784], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7785, 7880], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7880, 8325], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8325, 9126], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9126, 9562], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9562, 9920], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9920, 10038], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10038, 10253], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10283, 10915], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10915, 11149], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11150, 11577], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11577, 11904], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1399], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1399, 2014], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2014, 2614], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2615, 3206], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3206, 3852], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3853, 5086], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5086, 6101], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6101, 6526], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6526, 7048], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7048, 7880], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7880, 9126], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9126, 11577], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11577, 11904], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471270.json b/annotations/task-0047/episode_00471270.json new file mode 100644 index 0000000000000000000000000000000000000000..db49cc52c2ae828e99a445ddcc91cfdcb0433df0 --- /dev/null +++ b/annotations/task-0047/episode_00471270.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10244, + "valid_duration": [0, 10244] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 429], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [429, 1242], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1242, 1890], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1890, 2382], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2382, 2764], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2764, 2958], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2958, 3372], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3372, 3469], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3469, 3987], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [3987, 4713], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4713, 5436], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [5436, 5858], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5858, 6067], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6067, 6370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6370, 6448], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6448, 6819], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6819, 6960], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6960, 7338], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7338, 7961], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7962, 8129], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8129, 8547], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8547, 8780], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8780, 9452], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9452, 9603], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9603, 10044], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["floors_kxcpgy_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10045, 10244], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1242], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1242, 1890], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1890, 2382], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2382, 2958], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2958, 3469], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3469, 4713], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4713, 5436], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [5436, 5858], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5858, 6370], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6370, 6960], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6960, 7961], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7962, 10044], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["floors_kxcpgy_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10045, 10244], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471280.json b/annotations/task-0047/episode_00471280.json new file mode 100644 index 0000000000000000000000000000000000000000..1f463b6fea8aef54ecf688d16a8880b7b775c994 --- /dev/null +++ b/annotations/task-0047/episode_00471280.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12170, + "valid_duration": [0, 12170] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 127], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [127, 1132], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1132, 1884], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1885, 2508], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2508, 2782], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2782, 3081], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3081, 3702], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3702, 3867], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3867, 4131], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4131, 5512], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5513, 6378], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6378, 6870], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6870, 7098], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7098, 7394], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7394, 7686], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7686, 7884], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7884, 8055], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8056, 8572], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8572, 9405], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9405, 9791], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9791, 10198], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10198, 10273], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10273, 10689], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10689, 11137], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11138, 11384], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11385, 11833], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11833, 12170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1132], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1132, 1884], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1885, 2508], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2508, 3081], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3081, 3867], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3867, 5512], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5513, 6378], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6378, 6870], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6870, 7394], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7394, 8055], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8056, 9405], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9405, 11833], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11833, 12170], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471290.json b/annotations/task-0047/episode_00471290.json new file mode 100644 index 0000000000000000000000000000000000000000..a50984f5c96a2b554d7774f641be97d9f9888441 --- /dev/null +++ b/annotations/task-0047/episode_00471290.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12640, + "valid_duration": [7, 12647] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7, 416], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [416, 1410], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1410, 2485], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2485, 3118], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3118, 3269], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3269, 3540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3570, 4044], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4044, 4161], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4161, 4387], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4387, 5363], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5363, 6066], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6066, 6837], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6837, 7097], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7097, 7308], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7308, 7975], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7975, 8136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8136, 8649], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8662, 9403], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9403, 9886], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9886, 10408], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10408, 10524], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10524, 10853], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10853, 11547], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11547, 11792], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11792, 12250], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12250, 12647], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [7, 1410], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1410, 2485], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2485, 3118], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3118, 3540], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3570, 4161], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4161, 5363], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5363, 6066], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6066, 6837], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6837, 7308], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7308, 8136], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8136, 9403], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9403, 12250], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12250, 12647], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471330.json b/annotations/task-0047/episode_00471330.json new file mode 100644 index 0000000000000000000000000000000000000000..2107a2c74b4cde8ea06dd6c0c9a1cd3d7db9f8c7 --- /dev/null +++ b/annotations/task-0047/episode_00471330.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10662, + "valid_duration": [0, 10662] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 282], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [282, 1102], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1102, 1650], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1650, 2048], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2048, 2169], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2170, 2358], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2358, 2820], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2820, 2989], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2989, 3189], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3189, 4288], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4288, 4935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4968, 5523], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5523, 5797], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5797, 6051], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6051, 6136], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6136, 6805], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6805, 6950], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6950, 7436], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7436, 8130], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8130, 8505], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8505, 8854], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8854, 8971], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8991, 9222], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9222, 9765], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9765, 9967], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9967, 10415], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10415, 10662], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1102], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1102, 1650], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1650, 2048], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2048, 2358], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2358, 2989], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [2989, 4288], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4288, 4935], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4968, 5523], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5523, 6051], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6051, 6950], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6950, 8130], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8130, 10415], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10415, 10662], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471350.json b/annotations/task-0047/episode_00471350.json new file mode 100644 index 0000000000000000000000000000000000000000..7e75bf51cc4ea6780c5ab43b06ce925d30337da5 --- /dev/null +++ b/annotations/task-0047/episode_00471350.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11490, + "valid_duration": [0, 11490] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 240], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [264, 1148], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1178, 2091], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2097, 2583], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2601, 2949], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2961, 3201], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3201, 3763], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3763, 3994], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3994, 4254], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4254, 5128], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5148, 5857], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5857, 6333], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6333, 6624], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6629, 6857], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6857, 6900], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6900, 7461], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7468, 7626], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7626, 8090], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8090, 8779], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8779, 9180], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9180, 9663], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9663, 9820], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9820, 10037], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10038, 10560], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10560, 10776], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10776, 11187], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11187, 11490], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1148], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1178, 2091], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2097, 2583], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2601, 3201], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3201, 3994], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3994, 5128], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5148, 5857], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5857, 6333], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6333, 6857], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6857, 7626], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7626, 8779], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8779, 11187], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11187, 11490], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471360.json b/annotations/task-0047/episode_00471360.json new file mode 100644 index 0000000000000000000000000000000000000000..02b6142204ba2a8c3add125cb8ec6045495b6b98 --- /dev/null +++ b/annotations/task-0047/episode_00471360.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11076, + "valid_duration": [0, 11076] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 349], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [349, 1148], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1148, 1771], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1771, 2205], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2205, 2466], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2466, 2601], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2601, 3284], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3285, 3416], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3416, 3693], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3693, 4648], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4648, 5655], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5655, 6180], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6186, 6500], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6501, 6785], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6785, 6837], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6837, 7308], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7308, 7417], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7417, 7895], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7896, 8725], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8725, 8878], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8881, 9329], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9329, 9554], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9555, 10216], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10216, 10401], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10401, 10747], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10747, 11076], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1148], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1148, 1771], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1771, 2205], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2205, 2601], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2601, 3416], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3416, 4648], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4648, 5655], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5655, 6180], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6186, 6785], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6785, 7417], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7417, 8725], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8725, 10747], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10747, 11076], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471370.json b/annotations/task-0047/episode_00471370.json new file mode 100644 index 0000000000000000000000000000000000000000..dc820fcc534f72958a0fb268b5ece05e9b0a027b --- /dev/null +++ b/annotations/task-0047/episode_00471370.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10594, + "valid_duration": [0, 10594] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 303], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [303, 1046], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1046, 1655], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1655, 2133], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2133, 2288], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2288, 2496], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2496, 2942], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2942, 3094], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3094, 3339], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3339, 4610], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4610, 5116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5116, 5752], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5752, 6003], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6003, 6151], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6151, 6222], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6222, 6726], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6726, 6826], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6826, 7271], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7271, 8031], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8031, 8480], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8480, 8799], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8799, 8906], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8906, 9246], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9246, 9704], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9704, 9901], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9901, 10303], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10303, 10594], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1046], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1046, 1655], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1655, 2133], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2133, 2496], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2496, 3094], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3094, 4610], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4610, 5116], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5116, 5752], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5752, 6151], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6151, 6826], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6826, 8031], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8031, 10303], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10303, 10594], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471380.json b/annotations/task-0047/episode_00471380.json new file mode 100644 index 0000000000000000000000000000000000000000..e25af9d12c75d3a1a3cb9719b41b79481e5b8ab9 --- /dev/null +++ b/annotations/task-0047/episode_00471380.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12461, + "valid_duration": [0, 12461] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 630], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [636, 1609], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1609, 2398], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2398, 2988], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2989, 3341], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3341, 3493], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3493, 3985], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3985, 4192], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4192, 4391], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4391, 5394], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5394, 6398], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6398, 7287], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7287, 7480], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7480, 7691], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7691, 8200], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8200, 8370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8370, 8842], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8842, 9681], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9681, 10038], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10038, 10361], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10361, 10680], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10680, 11460], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11461, 11687], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11687, 12124], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12124, 12461], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1609], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1609, 2398], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2398, 2988], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2989, 3493], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3493, 4192], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4192, 5394], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5394, 6398], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6398, 7287], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7287, 7691], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7691, 8370], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8370, 9681], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9681, 12124], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12124, 12461], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471390.json b/annotations/task-0047/episode_00471390.json new file mode 100644 index 0000000000000000000000000000000000000000..40f1de1483449d5a07c024728c8f78a56a4ce111 --- /dev/null +++ b/annotations/task-0047/episode_00471390.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10728, + "valid_duration": [0, 10728] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 278], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [278, 1218], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1218, 1852], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1852, 2429], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2429, 2877], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2877, 3038], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3038, 3624], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3624, 3797], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3797, 4055], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4056, 4793], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4793, 5734], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5734, 6339], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6339, 6585], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6585, 6751], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6751, 6910], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6910, 7242], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7242, 7401], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7402, 7853], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7853, 8603], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8603, 8829], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8829, 9150], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9150, 9290], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9290, 9897], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9898, 10095], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10095, 10463], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10463, 10728], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1218], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1218, 1852], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1852, 2429], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2429, 3038], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3038, 3797], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3797, 4793], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4793, 5734], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5734, 6339], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6339, 6751], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6751, 7401], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7402, 8603], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8603, 10463], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10463, 10728], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471410.json b/annotations/task-0047/episode_00471410.json new file mode 100644 index 0000000000000000000000000000000000000000..f1d7dd8ebde3befd682a797ab6c95d0f0f3e9ee1 --- /dev/null +++ b/annotations/task-0047/episode_00471410.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11742, + "valid_duration": [0, 11742] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 693], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [693, 1653], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1653, 2571], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2571, 2980], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2980, 3363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3363, 3573], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3573, 4146], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4146, 4323], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4323, 4560], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4560, 5476], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5476, 6084], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6084, 6636], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6636, 6916], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6929, 7210], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7210, 7656], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7656, 7773], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7773, 8271], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8271, 9153], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9153, 9595], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9595, 9904], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9904, 10015], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10015, 10234], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10234, 10833], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10833, 11026], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11026, 11415], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11416, 11742], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1653], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1653, 2571], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2571, 2980], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2980, 3573], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3573, 4323], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4323, 5476], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5476, 6084], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6084, 6636], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6636, 7210], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7210, 7773], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7773, 9153], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9153, 11415], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11416, 11742], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471430.json b/annotations/task-0047/episode_00471430.json new file mode 100644 index 0000000000000000000000000000000000000000..4566d0c46226ba81e6a48da0421e9ebc112448ee --- /dev/null +++ b/annotations/task-0047/episode_00471430.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10353, + "valid_duration": [0, 10353] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 133], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [133, 1038], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1188, 1603], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1603, 2120], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2120, 2605], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2605, 2772], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2772, 3225], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3225, 3378], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3378, 3650], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3650, 4451], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4590, 5084], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5084, 5544], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5544, 5824], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5824, 6022], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6022, 6041], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6041, 6674], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6674, 6840], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6840, 7293], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7293, 8015], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8015, 8166], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8166, 8484], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8484, 8618], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8618, 9240], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9240, 9484], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9484, 10014], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10014, 10353], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1038], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1188, 1603], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1603, 2120], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2120, 2772], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2772, 3378], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3378, 4451], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4590, 5084], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5084, 5544], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5544, 6022], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6022, 6840], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6840, 8015], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8015, 10014], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10014, 10353], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471440.json b/annotations/task-0047/episode_00471440.json new file mode 100644 index 0000000000000000000000000000000000000000..249742f7ba49ed117946acc23ca501f3e7931ba1 --- /dev/null +++ b/annotations/task-0047/episode_00471440.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10470, + "valid_duration": [0, 10470] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 30], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [30, 841], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [841, 1716], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1716, 2253], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2253, 2547], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2547, 2764], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2764, 3211], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3211, 3326], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3326, 3638], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [3638, 4486], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4486, 4978], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4978, 5520], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5520, 5781], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5781, 6018], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6018, 6102], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6102, 6577], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6577, 6694], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6694, 7069], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7069, 7842], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7842, 8217], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8217, 8586], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8586, 8664], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8664, 8835], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8835, 9477], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9477, 9660], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9660, 10116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10116, 10470], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 841], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [841, 1716], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1716, 2253], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2253, 2764], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2764, 3326], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3326, 4486], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4486, 4978], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4978, 5520], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5520, 6018], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6018, 6694], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6694, 7842], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7842, 10116], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10116, 10470], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471450.json b/annotations/task-0047/episode_00471450.json new file mode 100644 index 0000000000000000000000000000000000000000..ca53117b252ca04bb2b006a8486f65c633cdff43 --- /dev/null +++ b/annotations/task-0047/episode_00471450.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10626, + "valid_duration": [0, 10626] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 687], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [687, 1503], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1503, 2134], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2134, 2571], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2571, 2963], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2964, 3218], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3219, 3587], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3587, 3720], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3720, 3897], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3897, 4846], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4847, 5293], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5294, 5833], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5836, 5949], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5949, 6059], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6059, 6343], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6343, 6521], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6522, 7149], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7149, 7898], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7899, 8376], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8376, 8670], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8670, 8855], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8855, 9591], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9591, 9770], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9770, 10333], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10334, 10626], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1503], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1503, 2134], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2134, 2571], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2571, 3218], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3219, 3720], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3720, 4846], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4847, 5293], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5294, 5833], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5836, 6059], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6059, 6521], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6522, 7898], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7899, 10333], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10334, 10626], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471460.json b/annotations/task-0047/episode_00471460.json new file mode 100644 index 0000000000000000000000000000000000000000..c609311793c721dd8723087ac0b87b711b3ad4c7 --- /dev/null +++ b/annotations/task-0047/episode_00471460.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11541, + "valid_duration": [0, 11541] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 240], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [240, 1081], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1082, 1980], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1980, 2472], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2472, 2817], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2817, 3030], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3030, 3458], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3458, 3549], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3549, 3763], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3763, 4725], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4725, 5980], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5980, 6558], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6558, 6784], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6784, 6942], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["plate_233"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6942, 6972], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6972, 7290], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7290, 7386], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7386, 7940], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7941, 8676], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8676, 9151], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9151, 9362], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9362, 9483], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9483, 9684], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9684, 10507], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10507, 10740], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10740, 11226], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11226, 11541], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1081], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1082, 1980], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1980, 2472], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2472, 3030], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3030, 3549], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3549, 4725], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4725, 5980], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5980, 6558], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6558, 6942], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6942, 7386], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7386, 8676], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8676, 11226], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11226, 11541], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471470.json b/annotations/task-0047/episode_00471470.json new file mode 100644 index 0000000000000000000000000000000000000000..bc17400654e53b9eff92b9419a1386798f78e8ff --- /dev/null +++ b/annotations/task-0047/episode_00471470.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12502, + "valid_duration": [0, 12502] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 168], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [169, 1251], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1252, 1923], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1923, 2380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2380, 2938], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2938, 3085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3085, 3552], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3553, 3707], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3707, 4097], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4098, 5200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5200, 6332], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6333, 6838], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6838, 7251], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7251, 7550], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7550, 7593], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7594, 8101], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8102, 8198], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8198, 8733], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8734, 9601], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9601, 10089], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10089, 10344], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10344, 10407], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10407, 10742], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10742, 11410], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11410, 11646], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11646, 12103], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12103, 12502], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1251], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1252, 1923], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1923, 2380], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2380, 3085], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3085, 3707], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3707, 5200], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5200, 6332], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6333, 6838], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6838, 7550], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7550, 8198], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8198, 9601], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9601, 12103], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12103, 12502], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471480.json b/annotations/task-0047/episode_00471480.json new file mode 100644 index 0000000000000000000000000000000000000000..3599d1f9afd0b3581215eef69f0f9b190284329d --- /dev/null +++ b/annotations/task-0047/episode_00471480.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10956, + "valid_duration": [0, 10956] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 58], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [58, 900], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [900, 1590], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1590, 1920], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1929, 2022], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2022, 2352], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2352, 2748], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2778, 2856], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2856, 3051], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3054, 4125], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4125, 5064], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5064, 5694], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5694, 5910], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5913, 6162], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6168, 6690], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6690, 6834], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6834, 7392], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7392, 8130], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8130, 8478], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8478, 8973], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8985, 9273], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9273, 9978], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9978, 10208], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10220, 10647], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10647, 10956], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 900], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [900, 1590], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1590, 1920], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1929, 2352], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2352, 2856], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [2856, 4125], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4125, 5064], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5064, 5694], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5694, 6162], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6168, 6834], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6834, 8130], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8130, 10647], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10647, 10956], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471510.json b/annotations/task-0047/episode_00471510.json new file mode 100644 index 0000000000000000000000000000000000000000..c6b69bd5173a6fee53281f35f5dca7f29077f685 --- /dev/null +++ b/annotations/task-0047/episode_00471510.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 14049, + "valid_duration": [0, 14049] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 754], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [754, 1788], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1788, 2834], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2834, 3360], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3360, 3447], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3447, 3744], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3744, 4472], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4472, 4682], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4682, 4932], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4932, 6019], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [6019, 7014], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [7014, 8019], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8019, 8190], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8190, 8431], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8431, 8642], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8642, 9144], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9144, 9416], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9416, 9867], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9867, 10531], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10531, 11054], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11054, 11365], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11365, 11684], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11684, 11918], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11918, 12632], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12632, 13004], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [13004, 13617], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13617, 14049], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1788], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1788, 2834], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2834, 3360], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3360, 3744], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3744, 4682], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4682, 6019], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [6019, 7014], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [7014, 8019], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8019, 8431], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8431, 9416], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9416, 10531], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10531, 13617], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13617, 14049], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471530.json b/annotations/task-0047/episode_00471530.json new file mode 100644 index 0000000000000000000000000000000000000000..c69d00a5e8f74fab0b608b85008597fa6b1c5bb4 --- /dev/null +++ b/annotations/task-0047/episode_00471530.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13380, + "valid_duration": [0, 13380] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [363, 1509], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1510, 2271], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2271, 3031], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3031, 3432], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3432, 3693], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3693, 4338], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4338, 4482], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4482, 4956], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4956, 6006], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [6006, 7030], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [7030, 7584], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7584, 7799], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7799, 8071], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8071, 8499], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8499, 8644], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8644, 9156], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9157, 9946], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9946, 10501], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10501, 10902], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10902, 11040], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11041, 11285], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11285, 12016], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12016, 12295], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12295, 12903], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12904, 13380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1509], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1510, 2271], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2271, 3031], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3031, 3693], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3693, 4482], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4482, 6006], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [6006, 7030], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [7030, 7584], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7584, 8071], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8071, 8644], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8644, 9946], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9946, 12903], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12904, 13380], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471560.json b/annotations/task-0047/episode_00471560.json new file mode 100644 index 0000000000000000000000000000000000000000..54f6fe50f5adab1452a98de94bf9ba477248d0be --- /dev/null +++ b/annotations/task-0047/episode_00471560.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13650, + "valid_duration": [0, 13650] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 266], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [271, 1344], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1344, 1961], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2068, 2656], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2656, 2799], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2799, 3118], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3190, 3823], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3823, 3981], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3981, 4237], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4237, 5364], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5366, 6561], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6561, 7317], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7318, 7464], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7465, 7761], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7762, 7980], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7994, 8358], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8358, 8523], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8523, 8986], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8998, 10179], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10179, 10739], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10739, 11121], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11250, 11372], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11372, 11920], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11920, 12370], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12371, 12638], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12639, 13211], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13211, 13650], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1344], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1344, 1961], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2068, 2656], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2656, 3118], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3190, 3981], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3981, 5364], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5366, 6561], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6561, 7317], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7318, 7761], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7762, 8523], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8523, 10179], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10179, 13211], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13211, 13650], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471580.json b/annotations/task-0047/episode_00471580.json new file mode 100644 index 0000000000000000000000000000000000000000..7985c46f4b27e37e6996e566a444ef88f8834fe0 --- /dev/null +++ b/annotations/task-0047/episode_00471580.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13368, + "valid_duration": [0, 13368] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 30], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [30, 1123], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1123, 2140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2140, 2730], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2730, 3005], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3005, 3547], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3547, 4150], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4150, 4324], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4324, 4769], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4769, 5821], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5821, 6528], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6528, 7065], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7065, 7123], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7123, 7734], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7734, 7831], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7831, 8691], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8691, 8935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8935, 9395], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9395, 10391], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10391, 10670], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10670, 11100], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11100, 11130], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11130, 11253], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11253, 12085], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12085, 12331], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12331, 12815], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12815, 13368], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1123], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1123, 2140], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2140, 2730], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2730, 3547], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3547, 4324], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4324, 5821], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5821, 6528], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6528, 7065], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7065, 7734], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7734, 8935], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8935, 10391], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10391, 12815], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12815, 13368], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471690.json b/annotations/task-0047/episode_00471690.json new file mode 100644 index 0000000000000000000000000000000000000000..d6e64d19c5ea4ab75ba193502f3d2d3c523268f8 --- /dev/null +++ b/annotations/task-0047/episode_00471690.json @@ -0,0 +1,375 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 9870, + "valid_duration": [0, 9870] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 300], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [300, 1475], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1475, 2129], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2129, 2941], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2941, 4083], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4084, 4561], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4561, 4800], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4800, 4952], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4952, 5361], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 9, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5361, 5494], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5494, 5563], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 11, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5563, 5883], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 12, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5883, 5990], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5990, 6441], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 14, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6441, 7171], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7172, 7585], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 16, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7585, 7863], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7863, 7989], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7989, 8758], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [8758, 8964], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [8964, 9348], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9348, 9870], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1475], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["tupperware_230", "tupperware_231"], "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [1475, 2941], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2941, 4083], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4084, 4952], + "skill_idxes": [5, 6, 7] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4952, 5494], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5494, 5990], + "skill_idxes": [10, 11, 12] + }, + { + "primitive_idx": 6, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5990, 7171], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 7, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7172, 9348], + "skill_idxes": [15, 16, 17, 18, 19, 20] + }, + { + "primitive_idx": 8, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9348, 9870], + "skill_idxes": [21] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471730.json b/annotations/task-0047/episode_00471730.json new file mode 100644 index 0000000000000000000000000000000000000000..815158c792565ac156c29778d232150fbc8b00c7 --- /dev/null +++ b/annotations/task-0047/episode_00471730.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11959, + "valid_duration": [0, 11959] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 317], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [317, 1186], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1186, 2043], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2180, 2639], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2639, 2725], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2725, 3110], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3110, 3601], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3601, 3718], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3718, 3997], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3997, 5148], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5148, 5920], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5920, 6594], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6594, 6866], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6866, 6993], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6993, 7064], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7064, 7833], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7833, 8015], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8015, 8357], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8357, 9169], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9169, 9374], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9374, 9707], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9707, 9912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9912, 10644], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10644, 10922], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10922, 11467], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11467, 11959], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1186], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1186, 2043], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2180, 2639], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2639, 3110], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3110, 3718], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3718, 5148], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5148, 5920], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5920, 6594], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6594, 6993], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6993, 8015], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8015, 9169], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9169, 11467], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11467, 11959], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471770.json b/annotations/task-0047/episode_00471770.json new file mode 100644 index 0000000000000000000000000000000000000000..ca6b739fe5645eb71b614f208b9aa69b9dd02f94 --- /dev/null +++ b/annotations/task-0047/episode_00471770.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12037, + "valid_duration": [0, 12037] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 214], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [214, 1225], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1225, 2006], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2006, 2572], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2572, 2848], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2848, 3115], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3115, 3889], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3889, 4012], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4012, 4196], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4196, 5145], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5145, 5949], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5949, 6708], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6708, 6891], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6891, 7168], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7168, 7626], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7626, 7860], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7860, 8329], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8329, 9244], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9244, 9709], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9709, 10036], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10036, 10107], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10107, 10356], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10356, 11066], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11066, 11286], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11286, 11669], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11669, 12037], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1225], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1225, 2006], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2006, 2572], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2572, 3115], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3115, 4012], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4012, 5145], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5145, 5949], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5949, 6708], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6708, 7168], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7168, 7860], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7860, 9244], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9244, 11669], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11669, 12037], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471790.json b/annotations/task-0047/episode_00471790.json new file mode 100644 index 0000000000000000000000000000000000000000..5b82d2d58f0534bcfd0e7ed7be8fabdf875e97f2 --- /dev/null +++ b/annotations/task-0047/episode_00471790.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11573, + "valid_duration": [0, 11573] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 324], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [324, 1345], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1345, 2068], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2068, 2738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2738, 3176], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3176, 3313], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3313, 3710], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3710, 3828], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3828, 4078], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4078, 5142], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5142, 5974], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5974, 6572], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6572, 6850], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6850, 6979], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6979, 7656], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7656, 7788], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7789, 8101], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8101, 8940], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8940, 9190], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9191, 9504], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9504, 9678], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9678, 10404], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10404, 10636], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10636, 11249], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11249, 11573], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1345], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1345, 2068], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2068, 2738], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2738, 3313], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3313, 3828], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3828, 5142], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5142, 5974], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5974, 6572], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6572, 6979], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6979, 7788], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7789, 8940], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8940, 11249], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11249, 11573], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471800.json b/annotations/task-0047/episode_00471800.json new file mode 100644 index 0000000000000000000000000000000000000000..5e78d2dc3ff6bb17fa78c902b6f6a12c599ff538 --- /dev/null +++ b/annotations/task-0047/episode_00471800.json @@ -0,0 +1,363 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10860, + "valid_duration": [0, 10860] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 354], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [366, 1434], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1434, 2478], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2478, 2970], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2970, 4353], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4434, 4686], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 6, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4686, 5151], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5151, 5508], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5526, 5976], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 9, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5976, 6102], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6102, 6852], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 11, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6852, 6963], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6963, 7368], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7377, 8196], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8196, 8430], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8430, 8781], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8781, 8973], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8973, 9504], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9504, 9915], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 19, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9915, 10386], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10386, 10860], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1434], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [[["tupperware_230", "tupperware_231"], "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level", "high_level"]]], + "frame_duration": [1434, 2970], + "skill_idxes": [2, 3] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2970, 4353], + "skill_idxes": [4] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4434, 5508], + "skill_idxes": [5, 6, 7] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5526, 6102], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 5, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6102, 6963], + "skill_idxes": [10, 11] + }, + { + "primitive_idx": 6, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6963, 8196], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 7, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8196, 10386], + "skill_idxes": [14, 15, 16, 17, 18, 19] + }, + { + "primitive_idx": 8, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10386, 10860], + "skill_idxes": [20] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471810.json b/annotations/task-0047/episode_00471810.json new file mode 100644 index 0000000000000000000000000000000000000000..233b1e096b6b02c087bf3b34c6703a31da461289 --- /dev/null +++ b/annotations/task-0047/episode_00471810.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12239, + "valid_duration": [0, 12239] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 407], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [407, 1431], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1431, 2240], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2240, 2766], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2766, 3049], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3049, 3258], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3258, 3719], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3719, 3874], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3874, 4123], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4123, 5200], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5200, 5850], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5850, 6722], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6722, 6982], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6982, 7200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7200, 7842], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7842, 7998], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7998, 8483], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8483, 9212], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9212, 9684], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9684, 10140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10140, 10210], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10210, 10503], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10503, 11141], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11141, 11374], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11374, 11795], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11795, 12239], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1431], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1431, 2240], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2240, 2766], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2766, 3258], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3258, 3874], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3874, 5200], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5200, 5850], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5850, 6722], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6722, 7200], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7200, 7998], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7998, 9212], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9212, 11795], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11795, 12239], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471850.json b/annotations/task-0047/episode_00471850.json new file mode 100644 index 0000000000000000000000000000000000000000..7b713e31a43c26244ab80636a1fdabd109e83ab6 --- /dev/null +++ b/annotations/task-0047/episode_00471850.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12420, + "valid_duration": [0, 12420] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 630], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [630, 1669], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1669, 2494], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2494, 2895], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2895, 3073], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3073, 3318], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3318, 3916], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3916, 4085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4085, 4332], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4332, 5523], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5523, 6437], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6437, 7137], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7137, 7335], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7335, 7509], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7509, 8169], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8170, 8330], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8330, 8706], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8706, 9603], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9603, 10051], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10051, 10440], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10440, 10555], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10555, 10989], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10989, 11453], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11453, 11674], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11674, 12095], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12095, 12420], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1669], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1669, 2494], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2494, 2895], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2895, 3318], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3318, 4085], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4085, 5523], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5523, 6437], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6437, 7137], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7137, 7509], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7509, 8330], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8330, 9603], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9603, 12095], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12095, 12420], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00471910.json b/annotations/task-0047/episode_00471910.json new file mode 100644 index 0000000000000000000000000000000000000000..0d51b9d2e70f07c542500ce96e7688385068cee6 --- /dev/null +++ b/annotations/task-0047/episode_00471910.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10463, + "valid_duration": [0, 10463] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 179], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [197, 1182], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1182, 1784], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1784, 2385], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2385, 2546], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2546, 2832], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2833, 3212], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3212, 3362], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3362, 3510], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3531, 4452], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4452, 5090], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5091, 5682], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5682, 5895], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5898, 6003], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6003, 6152], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6153, 6715], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6715, 6828], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6828, 7203], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7213, 7917], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7917, 8370], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8388, 8678], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8678, 8796], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8810, 9127], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9127, 9589], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9589, 9852], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9852, 10170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10173, 10463], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1182], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1182, 1784], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1784, 2385], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2385, 2832], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2833, 3362], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3362, 4452], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4452, 5090], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5091, 5682], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5682, 6003], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6003, 6828], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6828, 7917], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7917, 10170], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10173, 10463], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472000.json b/annotations/task-0047/episode_00472000.json new file mode 100644 index 0000000000000000000000000000000000000000..5056f74fc85a6e71d261f629435a84b9e74d0d95 --- /dev/null +++ b/annotations/task-0047/episode_00472000.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11911, + "valid_duration": [0, 11911] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 448], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [448, 1427], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1427, 2175], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2176, 2610], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2639, 2990], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2990, 3305], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3305, 4042], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4043, 4160], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4160, 4452], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4452, 5376], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5376, 6005], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6005, 6497], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6497, 6774], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6775, 7048], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7049, 7185], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7185, 7673], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7673, 7863], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7864, 8378], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8378, 9409], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9410, 9666], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9666, 9965], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9966, 9990], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9990, 10152], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10152, 10846], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10847, 11069], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11069, 11562], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11562, 11911], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1427], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1427, 2175], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2176, 2610], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2639, 3305], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3305, 4160], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4160, 5376], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5376, 6005], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6005, 6497], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6497, 7048], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7049, 7863], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7864, 9409], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9410, 11562], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11562, 11911], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472010.json b/annotations/task-0047/episode_00472010.json new file mode 100644 index 0000000000000000000000000000000000000000..536d7aa8ad769844f6015f063b22e0a35f018eba --- /dev/null +++ b/annotations/task-0047/episode_00472010.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13559, + "valid_duration": [0, 13559] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 612], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [612, 1556], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1557, 2573], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2573, 3106], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3106, 3479], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3479, 3817], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3817, 4428], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4428, 4589], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4589, 4839], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4839, 5973], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5973, 7263], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [7263, 7796], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7796, 7937], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7937, 8294], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8295, 8349], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8349, 8873], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8873, 9024], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9024, 9618], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9619, 10501], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10502, 10869], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10869, 11212], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11212, 11625], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11625, 12371], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12372, 12603], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12604, 13185], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13185, 13559], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1556], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1557, 2573], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2573, 3106], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3106, 3817], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3817, 4589], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4589, 5973], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5973, 7263], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [7263, 7796], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7796, 8294], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8295, 9024], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9024, 10501], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10502, 13185], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13185, 13559], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472030.json b/annotations/task-0047/episode_00472030.json new file mode 100644 index 0000000000000000000000000000000000000000..3b363c261103900d59d9312e11050dcf81b6a21f --- /dev/null +++ b/annotations/task-0047/episode_00472030.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13058, + "valid_duration": [0, 13058] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 232], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [233, 1244], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1244, 2584], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2584, 3126], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3126, 3482], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3482, 3772], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3772, 4406], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4406, 4534], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4535, 4770], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4770, 5722], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5722, 6332], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6332, 7175], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7175, 7433], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7434, 7710], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7710, 7833], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7833, 8427], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8427, 8595], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8596, 9133], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9133, 9990], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9990, 10409], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10410, 10779], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10779, 10907], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10907, 11252], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11252, 11918], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11919, 12199], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12319, 12753], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12753, 13058], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1244], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1244, 2584], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2584, 3126], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3126, 3772], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3772, 4534], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4535, 5722], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5722, 6332], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6332, 7175], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7175, 7710], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7710, 8595], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8596, 9990], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9990, 12753], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12753, 13058], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472040.json b/annotations/task-0047/episode_00472040.json new file mode 100644 index 0000000000000000000000000000000000000000..608bfd1855c7f7388d7a15533f5eebb00242e032 --- /dev/null +++ b/annotations/task-0047/episode_00472040.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12521, + "valid_duration": [0, 12521] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 350], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [350, 1341], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1341, 2695], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2695, 3189], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3189, 3498], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3498, 3810], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3810, 4381], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4381, 4551], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4551, 4727], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4727, 5799], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5799, 6359], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6359, 6995], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7033, 7297], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7297, 7418], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7418, 7855], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7855, 8048], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8048, 8586], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8586, 9408], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9408, 9819], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9819, 10231], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10231, 10353], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10353, 10602], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10602, 11309], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11309, 11571], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11571, 12174], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12174, 12521], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1341], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1341, 2695], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2695, 3189], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3189, 3810], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3810, 4551], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4551, 5799], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5799, 6359], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6359, 6995], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7033, 7418], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7418, 8048], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8048, 9408], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9408, 12174], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12174, 12521], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472050.json b/annotations/task-0047/episode_00472050.json new file mode 100644 index 0000000000000000000000000000000000000000..5525739ae7d9a2aebf71aa8f1d10530434791485 --- /dev/null +++ b/annotations/task-0047/episode_00472050.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10716, + "valid_duration": [0, 10716] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 339], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [339, 1266], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1267, 1879], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1880, 2430], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2430, 2623], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2623, 2886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2887, 3370], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3371, 3496], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3496, 3810], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3810, 4682], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4683, 5396], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5396, 5942], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5943, 6205], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6206, 6462], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6462, 6923], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6923, 7116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7116, 7549], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7550, 8283], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8283, 8603], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8603, 8853], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8853, 9023], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9023, 9746], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9747, 9964], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9965, 10439], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10439, 10716], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1266], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1267, 1879], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1880, 2430], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2430, 2886], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2887, 3496], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3496, 4682], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4683, 5396], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5396, 5942], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5943, 6462], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6462, 7116], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7116, 8283], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8283, 10439], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10439, 10716], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472070.json b/annotations/task-0047/episode_00472070.json new file mode 100644 index 0000000000000000000000000000000000000000..b353b0cf3d9a1b89cf799a3ce1c16c908de81823 --- /dev/null +++ b/annotations/task-0047/episode_00472070.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10948, + "valid_duration": [0, 10948] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 54], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [54, 974], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [974, 1683], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1683, 2118], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2125, 2538], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2538, 2651], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2651, 3005], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3005, 3181], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3181, 3512], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3519, 4460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4460, 5455], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5455, 5956], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5956, 6168], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6168, 6423], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6423, 6478], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6478, 7032], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7032, 7178], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7178, 7653], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7653, 8458], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8458, 8955], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8956, 9083], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9083, 9279], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9279, 10020], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10020, 10234], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10234, 10687], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10687, 10948], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 974], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [974, 1683], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1683, 2118], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2125, 2651], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2651, 3181], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3181, 4460], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4460, 5455], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5455, 5956], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5956, 6423], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6423, 7178], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7178, 8458], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8458, 10687], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10687, 10948], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472080.json b/annotations/task-0047/episode_00472080.json new file mode 100644 index 0000000000000000000000000000000000000000..ccaae9338b6836d80615a85a9067df0d167188c8 --- /dev/null +++ b/annotations/task-0047/episode_00472080.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11586, + "valid_duration": [0, 11586] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 227], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [227, 1308], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1311, 2343], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2343, 2839], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2839, 3224], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3224, 3471], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3471, 3885], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3885, 4014], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4014, 4323], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4323, 5124], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5124, 6012], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6012, 6612], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6612, 6912], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6915, 7226], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7226, 7374], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7374, 7822], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7823, 7926], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7926, 8358], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8358, 9056], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9056, 9218], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9224, 9611], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9611, 9843], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9843, 10680], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10686, 10875], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10875, 11327], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11327, 11586], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1308], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1311, 2343], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2343, 2839], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2839, 3471], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3471, 4014], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4014, 5124], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5124, 6012], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6012, 6612], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6612, 7226], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7226, 7926], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7926, 9056], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9056, 11327], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11327, 11586], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472100.json b/annotations/task-0047/episode_00472100.json new file mode 100644 index 0000000000000000000000000000000000000000..6d0e7ae5c12132f81d7add59c8d29724badc7c42 --- /dev/null +++ b/annotations/task-0047/episode_00472100.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12483, + "valid_duration": [0, 12483] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 331], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [331, 1352], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1352, 2163], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2163, 2583], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2583, 2731], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2731, 3061], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3061, 3633], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3633, 3937], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3937, 4212], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4212, 5250], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5250, 6276], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6276, 6795], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6795, 7035], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7035, 7323], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7323, 7410], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7410, 7881], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7881, 7999], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7999, 8487], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8487, 9366], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9366, 9839], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9839, 10113], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10113, 10430], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10430, 10713], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10728, 11425], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11425, 11652], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11652, 12179], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12179, 12483], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1352], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1352, 2163], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2163, 2583], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2583, 3061], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3061, 3937], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3937, 5250], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5250, 6276], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6276, 6795], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6795, 7323], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7323, 7999], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7999, 9366], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9366, 12179], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12179, 12483], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472110.json b/annotations/task-0047/episode_00472110.json new file mode 100644 index 0000000000000000000000000000000000000000..eb3354dee47c66daed3426858381c8f01ff0af75 --- /dev/null +++ b/annotations/task-0047/episode_00472110.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10891, + "valid_duration": [0, 10891] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 728], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [728, 1747], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1747, 2382], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2382, 2822], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2822, 3106], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3106, 3426], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3427, 3964], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3964, 4082], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4083, 4504], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4504, 5370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5370, 6009], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6009, 6375], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6375, 6648], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6648, 6873], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6873, 6999], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6999, 7308], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7308, 7455], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7455, 7839], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7839, 8744], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8744, 9086], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9086, 9256], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9256, 9379], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9379, 9978], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9978, 10200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10254, 10583], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10583, 10891], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1747], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1747, 2382], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2382, 2822], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2822, 3426], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3427, 4082], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4083, 5370], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5370, 6009], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6009, 6375], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6375, 6873], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6873, 7455], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7455, 8744], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8744, 10583], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10583, 10891], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472130.json b/annotations/task-0047/episode_00472130.json new file mode 100644 index 0000000000000000000000000000000000000000..7bad6912e6472406b6f980b533e5facfe6535fa8 --- /dev/null +++ b/annotations/task-0047/episode_00472130.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11910, + "valid_duration": [0, 11910] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 402], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [402, 1416], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1416, 2151], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2151, 2532], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2532, 2778], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2778, 3003], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3003, 3471], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3471, 3648], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3648, 3909], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3909, 4941], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4941, 5727], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5727, 6192], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6192, 6480], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6480, 6771], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6771, 6882], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6882, 7413], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7413, 7557], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7557, 8058], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8058, 8928], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8928, 9372], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9387, 9744], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9744, 9903], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9927, 10164], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10164, 10833], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10833, 11052], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11052, 11616], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11616, 11910], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1416], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1416, 2151], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2151, 2532], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2532, 3003], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3003, 3648], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3648, 4941], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4941, 5727], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5727, 6192], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6192, 6771], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6771, 7557], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7557, 8928], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8928, 11616], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11616, 11910], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472140.json b/annotations/task-0047/episode_00472140.json new file mode 100644 index 0000000000000000000000000000000000000000..8b4bb5772e96980399d6f04f340ceb262edaa021 --- /dev/null +++ b/annotations/task-0047/episode_00472140.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13962, + "valid_duration": [0, 13962] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 399], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [399, 1562], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1562, 2879], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2879, 3340], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3341, 3674], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3674, 3959], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3959, 4597], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4597, 4757], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4757, 4974], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4974, 6161], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [6161, 7038], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [7038, 7678], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7678, 7886], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7886, 8217], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8322, 8407], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8407, 8835], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8836, 8985], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8985, 9777], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9777, 10814], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10814, 11339], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11339, 11738], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11738, 11771], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11771, 11999], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11999, 12884], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12885, 13154], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [13154, 13612], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13613, 13962], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1562], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1562, 2879], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2879, 3340], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3341, 3959], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3959, 4757], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4757, 6161], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [6161, 7038], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [7038, 7678], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7678, 8217], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8322, 8985], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8985, 10814], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10814, 13612], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13613, 13962], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472150.json b/annotations/task-0047/episode_00472150.json new file mode 100644 index 0000000000000000000000000000000000000000..45f410cc4fc8213f60fbfceca0a633b0e57c5416 --- /dev/null +++ b/annotations/task-0047/episode_00472150.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13140, + "valid_duration": [0, 13140] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 471], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [471, 1581], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1581, 2442], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2442, 3027], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3027, 3327], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3327, 3720], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3720, 4272], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4272, 4413], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4413, 4734], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4734, 5994], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5994, 6744], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6744, 7359], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7359, 7641], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7641, 7929], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7929, 7991], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7991, 8436], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8436, 8562], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8562, 9132], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9132, 10044], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10044, 10287], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10287, 10827], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10827, 10866], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10866, 11136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11136, 11973], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11973, 12240], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12240, 12756], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12756, 13140], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1581], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1581, 2442], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2442, 3027], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3027, 3720], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3720, 4413], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4413, 5994], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5994, 6744], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6744, 7359], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7359, 7929], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7929, 8562], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8562, 10044], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10044, 12756], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12756, 13140], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472160.json b/annotations/task-0047/episode_00472160.json new file mode 100644 index 0000000000000000000000000000000000000000..2203746582b29d47cdbb73f598faad6e2c152c07 --- /dev/null +++ b/annotations/task-0047/episode_00472160.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11820, + "valid_duration": [0, 11820] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 179], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [179, 1178], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1178, 1886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1886, 2375], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2375, 2732], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2732, 2990], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2990, 3602], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3602, 3722], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3722, 3938], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3938, 5081], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5081, 5940], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5940, 6527], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6527, 6695], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6695, 7020], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7020, 7535], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7535, 7643], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7643, 8195], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8195, 8948], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8948, 9377], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9377, 9707], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9707, 9965], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9965, 10145], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10145, 10865], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10865, 11072], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11072, 11579], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11579, 11820], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1178], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1178, 1886], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1886, 2375], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2375, 2990], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2990, 3722], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3722, 5081], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5081, 5940], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5940, 6527], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6527, 7020], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7020, 7643], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7643, 8948], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8948, 11579], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11579, 11820], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472190.json b/annotations/task-0047/episode_00472190.json new file mode 100644 index 0000000000000000000000000000000000000000..d1f4bd3080a7f70ae103a85f381aa36b1599cd8f --- /dev/null +++ b/annotations/task-0047/episode_00472190.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11930, + "valid_duration": [0, 11930] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 486], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [486, 1626], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1626, 2524], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2524, 3015], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3015, 3126], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3126, 3508], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3508, 4057], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4057, 4204], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4204, 4490], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4490, 5412], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5412, 6160], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6160, 6638], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6638, 6845], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6845, 7197], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7197, 7348], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7348, 7872], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7872, 8016], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8016, 8501], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8502, 9480], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9480, 9783], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9783, 10023], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10023, 10206], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10206, 10844], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10844, 11086], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11086, 11599], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11599, 11930], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1626], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1626, 2524], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2524, 3015], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3015, 3508], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3508, 4204], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4204, 5412], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5412, 6160], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6160, 6638], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6638, 7197], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7197, 8016], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8016, 9480], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9480, 11599], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11599, 11930], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472200.json b/annotations/task-0047/episode_00472200.json new file mode 100644 index 0000000000000000000000000000000000000000..d09054f2471d016baf68e239354b6ff46b7c2b64 --- /dev/null +++ b/annotations/task-0047/episode_00472200.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10356, + "valid_duration": [0, 10356] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 288], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [297, 1110], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1110, 1810], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1811, 2246], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2247, 2386], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2387, 2586], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2586, 2976], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2976, 3146], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3146, 3264], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3273, 4146], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4146, 4926], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4926, 5462], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5462, 5691], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5702, 6032], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6032, 6152], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6152, 6663], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6663, 6753], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6753, 7130], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7130, 7866], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7866, 8220], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8220, 8550], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8556, 8706], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8706, 8976], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8976, 9469], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9470, 9666], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9666, 10116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10116, 10356], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1110], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1110, 1810], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1811, 2246], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2247, 2586], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2586, 3146], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3146, 4146], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4146, 4926], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4926, 5462], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5462, 6032], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6032, 6753], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6753, 7866], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7866, 10116], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10116, 10356], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472220.json b/annotations/task-0047/episode_00472220.json new file mode 100644 index 0000000000000000000000000000000000000000..a6a4452377c81dd2a4ca656422882ddb00a54618 --- /dev/null +++ b/annotations/task-0047/episode_00472220.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10620, + "valid_duration": [0, 10620] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 190], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [190, 999], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [999, 1837], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1837, 2532], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2532, 2641], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2641, 2822], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2884, 3254], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3267, 3427], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3436, 3621], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3621, 4636], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4636, 5331], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5361, 5941], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5959, 6131], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6131, 6407], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6410, 6492], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6492, 6899], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6900, 7035], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7035, 7462], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7463, 8139], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8139, 8501], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8501, 8777], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8778, 8929], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "countertop_kelzer_0"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8930, 9263], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9263, 9720], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9720, 10053], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10053, 10377], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10377, 10620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 999], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [999, 1837], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1837, 2532], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2532, 2822], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2884, 3427], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3436, 4636], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4636, 5331], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5361, 5941], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5959, 6407], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6410, 7035], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7035, 8139], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "apple_pie_235"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "apple_pie_235"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8139, 10377], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10377, 10620], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472230.json b/annotations/task-0047/episode_00472230.json new file mode 100644 index 0000000000000000000000000000000000000000..788e4b14d1b483a6fcf871f911bb7bce6758b33c --- /dev/null +++ b/annotations/task-0047/episode_00472230.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 9857, + "valid_duration": [0, 9857] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 319], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [319, 1101], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1101, 1732], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1732, 2184], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2184, 2269], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2269, 2571], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2571, 3054], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3054, 3217], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3217, 3390], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3390, 4140], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4140, 4651], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4651, 5142], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5142, 5326], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5326, 5659], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5659, 5852], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5852, 6051], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6051, 6143], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6143, 6597], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6597, 7286], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7286, 7606], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7606, 7997], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7997, 8039], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8039, 8259], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8259, 8920], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [8920, 9154], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9154, 9587], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9587, 9857], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1101], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1101, 1732], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1732, 2184], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2184, 2571], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2571, 3217], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3217, 4140], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4140, 4651], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4651, 5142], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5142, 5659], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5659, 6143], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6143, 7286], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7286, 9587], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9587, 9857], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472240.json b/annotations/task-0047/episode_00472240.json new file mode 100644 index 0000000000000000000000000000000000000000..dbf59bacf0a5e5164335df46924409fa6105d3cf --- /dev/null +++ b/annotations/task-0047/episode_00472240.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10389, + "valid_duration": [0, 10389] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 363], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [363, 1266], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1267, 1665], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1665, 2096], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2096, 2395], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2398, 2643], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2643, 3163], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3163, 3298], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3298, 3663], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [3663, 4647], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4647, 5196], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [5196, 5619], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5619, 5712], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5713, 6034], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6035, 6097], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6098, 6441], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6441, 6543], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6543, 7078], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7078, 7844], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7844, 8250], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8250, 8481], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8481, 8536], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8536, 8780], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8787, 9453], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9453, 9693], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9693, 10098], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10098, 10389], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1266], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1267, 1665], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1665, 2096], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2096, 2643], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2643, 3298], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3298, 4647], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4647, 5196], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [5196, 5619], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5619, 6034], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6035, 6543], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6543, 7844], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7844, 10098], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10098, 10389], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472250.json b/annotations/task-0047/episode_00472250.json new file mode 100644 index 0000000000000000000000000000000000000000..40655400f6c37e32cd3875ee736fcbda38b963f3 --- /dev/null +++ b/annotations/task-0047/episode_00472250.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11280, + "valid_duration": [0, 11280] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 413], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [413, 1363], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1363, 2026], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2026, 2553], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2553, 2938], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2938, 3173], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3173, 3570], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3570, 3663], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3663, 3994], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3994, 4890], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4890, 5803], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5803, 6303], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6303, 6541], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6541, 6721], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6721, 7263], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7263, 7403], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7403, 7903], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7904, 8646], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8646, 8969], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8969, 9273], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9273, 9360], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9360, 9783], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9783, 10353], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10353, 10562], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10562, 11003], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11003, 11280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1363], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1363, 2026], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2026, 2553], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2553, 3173], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3173, 3663], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3663, 4890], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4890, 5803], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5803, 6303], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6303, 6721], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6721, 7403], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7403, 8646], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8646, 11003], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11003, 11280], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472260.json b/annotations/task-0047/episode_00472260.json new file mode 100644 index 0000000000000000000000000000000000000000..447f60a3ad5ae431e3ac15beda91efb11529916b --- /dev/null +++ b/annotations/task-0047/episode_00472260.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10848, + "valid_duration": [0, 10848] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 365], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [365, 1277], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1277, 1893], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1893, 2393], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2393, 2617], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2618, 2977], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2977, 3453], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3454, 3570], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3570, 3845], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3863, 4916], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4916, 5445], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5487, 5993], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5993, 6165], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6168, 6451], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["plate_233"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6451, 6557], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6558, 6878], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6879, 6975], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6986, 7441], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7441, 8259], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8277, 8503], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8503, 8847], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8847, 8886], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8886, 9129], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9129, 9774], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9780, 9982], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9982, 10530], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10533, 10848], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1277], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1277, 1893], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1893, 2393], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2393, 2977], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2977, 3570], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3570, 4916], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4916, 5445], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5487, 5993], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5993, 6451], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6451, 6975], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6986, 8259], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8277, 10530], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10533, 10848], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472270.json b/annotations/task-0047/episode_00472270.json new file mode 100644 index 0000000000000000000000000000000000000000..b59fe68b8ebbead4b78f10ff19d0a1f1886037f6 --- /dev/null +++ b/annotations/task-0047/episode_00472270.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10289, + "valid_duration": [0, 10289] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 491], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [491, 1275], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1275, 1843], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1843, 2388], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2388, 2585], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2585, 2821], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2821, 3134], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3134, 3254], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3254, 3412], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3412, 4444], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4444, 5000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5000, 5534], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5534, 5774], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5774, 6072], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6072, 6165], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6165, 6535], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6535, 6654], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6654, 7021], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7021, 7626], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7626, 7998], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7998, 8340], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8340, 8543], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8543, 8745], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8745, 9383], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9383, 9606], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9606, 10019], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10019, 10289], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1275], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1275, 1843], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1843, 2388], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2388, 2821], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2821, 3254], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3254, 4444], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4444, 5000], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5000, 5534], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5534, 6072], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6072, 6654], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6654, 7626], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7626, 10019], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10019, 10289], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472280.json b/annotations/task-0047/episode_00472280.json new file mode 100644 index 0000000000000000000000000000000000000000..2da2f9467dab0e84f276131b29afb6c25af41f2b --- /dev/null +++ b/annotations/task-0047/episode_00472280.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10629, + "valid_duration": [0, 10629] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 355], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [355, 1335], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1335, 2001], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2001, 2364], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2364, 2649], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2649, 2930], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2930, 3339], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3339, 3470], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3470, 3759], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [3759, 4653], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4653, 5341], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [5341, 5682], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5682, 6015], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6015, 6240], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6240, 6842], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6842, 6975], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6975, 7372], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7402, 8025], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8025, 8430], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8430, 8787], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8787, 8976], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8976, 9136], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9136, 9703], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9703, 9904], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9904, 10408], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10408, 10629], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1335], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1335, 2001], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2001, 2364], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2364, 2930], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2930, 3470], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3470, 4653], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4653, 5341], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [5341, 5682], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5682, 6240], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6240, 6975], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6975, 8025], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8025, 10408], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10408, 10629], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472300.json b/annotations/task-0047/episode_00472300.json new file mode 100644 index 0000000000000000000000000000000000000000..68acdd50eec7af16dbd453553acaa0d1fc591fa0 --- /dev/null +++ b/annotations/task-0047/episode_00472300.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 9435, + "valid_duration": [0, 9435] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 327], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [360, 1204], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1210, 1900], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1901, 2190], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2190, 2323], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2342, 2645], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2645, 2929], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2930, 3075], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3075, 3284], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3284, 4156], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4156, 4633], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4633, 5148], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5149, 5300], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5418, 5505], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5505, 5672], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5672, 5952], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5952, 6062], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6062, 6476], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6482, 7278], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7278, 7680], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "countertop_kelzer_0"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7691, 7795], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "countertop_kelzer_0"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7795, 8155], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8156, 8533], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [8534, 8742], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [8747, 9120], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9121, 9435], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1204], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1210, 1900], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1901, 2190], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2190, 2645], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2645, 3075], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3075, 4156], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4156, 4633], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4633, 5148], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5149, 5505], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5505, 6062], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6062, 7278], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["apple_pie_235", "apple_pie_234"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["apple_pie_235", "apple_pie_234"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7278, 9120], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9121, 9435], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472310.json b/annotations/task-0047/episode_00472310.json new file mode 100644 index 0000000000000000000000000000000000000000..62cae5aa6e410d6e99229abba47103ab0ed76208 --- /dev/null +++ b/annotations/task-0047/episode_00472310.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11033, + "valid_duration": [0, 11033] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 816], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [816, 1673], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1673, 2527], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2527, 3029], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3029, 3422], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3422, 3578], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3578, 3973], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3973, 4142], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4142, 4542], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4542, 5350], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5350, 5903], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [5903, 6324], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6324, 6668], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6668, 6846], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6846, 7469], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7469, 7595], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7595, 7981], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7981, 8648], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8648, 8964], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8964, 9240], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9240, 9376], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9376, 10027], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10027, 10254], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10254, 10680], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10680, 11033], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1673], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1673, 2527], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2527, 3029], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3029, 3578], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3578, 4142], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4142, 5350], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5350, 5903], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [5903, 6324], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6324, 6846], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6846, 7595], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7595, 8648], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8648, 10680], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10680, 11033], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472320.json b/annotations/task-0047/episode_00472320.json new file mode 100644 index 0000000000000000000000000000000000000000..e5d33b4700aeea07286231f843e3ff14553a4f3a --- /dev/null +++ b/annotations/task-0047/episode_00472320.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10484, + "valid_duration": [0, 10484] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 211], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [211, 1167], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1168, 2022], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2031, 2466], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2478, 2582], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2582, 2822], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2822, 3348], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3354, 3451], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3451, 3633], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3633, 4703], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4704, 5216], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5216, 5649], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5670, 5787], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5787, 6000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6021, 6053], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6053, 6585], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6585, 6690], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6695, 7059], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7059, 7759], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7759, 8199], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8201, 8503], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8505, 8584], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8596, 8797], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8797, 9394], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9394, 9608], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9609, 10224], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10225, 10484], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1167], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1168, 2022], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2031, 2466], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2478, 2822], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2822, 3451], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3451, 4703], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4704, 5216], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5216, 5649], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5670, 6000], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6021, 6690], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6695, 7759], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7759, 10224], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10225, 10484], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472350.json b/annotations/task-0047/episode_00472350.json new file mode 100644 index 0000000000000000000000000000000000000000..79a07deb16d232e6b5ea22f8d64bf19c6dbe9fa8 --- /dev/null +++ b/annotations/task-0047/episode_00472350.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11526, + "valid_duration": [0, 11526] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 350], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [350, 1270], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1270, 1956], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1956, 2681], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2681, 2867], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2867, 3147], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3147, 3647], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3647, 3821], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3821, 4003], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4003, 5001], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5001, 5810], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5810, 6467], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6467, 6681], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6681, 6938], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6938, 6960], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6960, 7610], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7610, 7683], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7683, 8039], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8039, 8858], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8858, 9239], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9239, 9636], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9636, 9705], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9705, 9912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9912, 10541], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10541, 10776], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10776, 11243], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11243, 11526], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1270], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1270, 1956], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1956, 2681], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2681, 3147], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3147, 3821], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3821, 5001], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5001, 5810], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5810, 6467], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6467, 6938], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6938, 7683], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7683, 8858], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8858, 11243], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11243, 11526], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472370.json b/annotations/task-0047/episode_00472370.json new file mode 100644 index 0000000000000000000000000000000000000000..5f1c6fced457f8e76c82f88c97f621bd2a531f55 --- /dev/null +++ b/annotations/task-0047/episode_00472370.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10308, + "valid_duration": [0, 10308] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 190], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [190, 890], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [890, 1526], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1526, 1941], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1941, 2050], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2050, 2370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2370, 2739], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2739, 2898], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [2898, 3046], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3046, 3867], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3867, 4839], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4839, 5316], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5316, 5547], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5547, 5829], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5829, 6346], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6346, 6549], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6556, 6944], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6944, 7781], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7781, 8190], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8190, 8489], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8489, 8565], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8565, 8823], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8823, 9366], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9366, 9691], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9691, 10034], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10034, 10308], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 890], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [890, 1526], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1526, 1941], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [1941, 2370], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2370, 2898], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2898, 3867], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [3867, 4839], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4839, 5316], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5316, 5829], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5829, 6549], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6556, 7781], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7781, 10034], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10034, 10308], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472390.json b/annotations/task-0047/episode_00472390.json new file mode 100644 index 0000000000000000000000000000000000000000..ef569cf9137e7f6f0cd7e8b394c4cae40d94bb4e --- /dev/null +++ b/annotations/task-0047/episode_00472390.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10634, + "valid_duration": [0, 10634] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 755], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [755, 1629], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1629, 2188], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2188, 2630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2630, 2930], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2930, 3122], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3122, 3468], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3469, 3582], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3582, 3783], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3783, 4555], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4555, 5190], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5214, 5823], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5823, 6033], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6063, 6355], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6355, 6816], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6816, 6916], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6916, 7302], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7302, 8029], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8029, 8340], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8340, 8641], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8641, 8912], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8912, 9698], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9698, 9937], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9937, 10384], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10384, 10634], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1629], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1629, 2188], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2188, 2630], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2630, 3122], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3122, 3582], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3582, 4555], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4555, 5190], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5214, 5823], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5823, 6355], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6355, 6916], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6916, 8029], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8029, 10384], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10384, 10634], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472400.json b/annotations/task-0047/episode_00472400.json new file mode 100644 index 0000000000000000000000000000000000000000..4132a904b3c9f22444f7e8d6782de4d716ee8f0e --- /dev/null +++ b/annotations/task-0047/episode_00472400.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10020, + "valid_duration": [0, 10020] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 438], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [438, 1245], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1245, 1881], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1881, 2307], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2307, 2529], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2529, 2772], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2772, 3217], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3220, 3282], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3282, 3429], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3429, 4317], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4317, 4884], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4884, 5409], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5409, 5523], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5523, 5766], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5772, 5808], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5808, 6225], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6225, 6354], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6354, 6876], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6876, 7534], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7534, 7986], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7986, 8220], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8220, 8445], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8445, 9135], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9135, 9321], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9321, 9801], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9801, 10020], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1245], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1245, 1881], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1881, 2307], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2307, 2772], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2772, 3282], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3282, 4317], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4317, 4884], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4884, 5409], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5409, 5766], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5772, 6354], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6354, 7534], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7534, 9801], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9801, 10020], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472410.json b/annotations/task-0047/episode_00472410.json new file mode 100644 index 0000000000000000000000000000000000000000..70fdf9ce6be95315f753c8d0f1d0ae17e3fad19e --- /dev/null +++ b/annotations/task-0047/episode_00472410.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10040, + "valid_duration": [0, 10040] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 499], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [499, 1291], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1291, 1828], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1828, 2259], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2259, 2380], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2380, 2658], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2658, 3176], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3176, 3288], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3288, 3438], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3438, 4255], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4255, 4848], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4848, 5279], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5279, 5431], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5431, 5715], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5715, 5815], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5815, 6321], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6321, 6483], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6483, 6857], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6857, 7510], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7510, 7931], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7931, 8205], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8205, 8361], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8361, 8536], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8536, 9110], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["middle_level", "middle_level"]], + "frame_duration": [9110, 9303], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["high_level", "high_level"]], + "frame_duration": [9303, 9734], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9734, 10040], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1291], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1291, 1828], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1828, 2259], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2259, 2658], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2658, 3288], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3288, 4255], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4255, 4848], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4848, 5279], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5279, 5715], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5715, 6483], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6483, 7510], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [["middle_level", "high_level"], ["middle_level", "high_level"]]], + "frame_duration": [7510, 9734], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9734, 10040], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472420.json b/annotations/task-0047/episode_00472420.json new file mode 100644 index 0000000000000000000000000000000000000000..89ee1f81e8765eb3eab1679e8855bf08cb83da12 --- /dev/null +++ b/annotations/task-0047/episode_00472420.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 9933, + "valid_duration": [0, 9933] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 390], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [390, 1200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1200, 1933], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1933, 2231], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2231, 2321], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2321, 2599], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2599, 2838], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2838, 3004], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3004, 3170], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3170, 3991], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [3991, 4500], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4500, 4954], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4954, 5142], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5142, 5529], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5529, 5642], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5643, 6101], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6101, 6217], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6217, 6720], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6720, 7456], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7456, 7796], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7796, 8112], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8112, 8160], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8160, 8421], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8421, 9068], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9071, 9332], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9332, 9630], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9630, 9933], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1200], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1200, 1933], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1933, 2231], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2231, 2599], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2599, 3004], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3004, 3991], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [3991, 4500], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4500, 4954], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4954, 5529], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5529, 6217], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6217, 7456], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7456, 9630], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9630, 9933], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472430.json b/annotations/task-0047/episode_00472430.json new file mode 100644 index 0000000000000000000000000000000000000000..e9136a26ffa0b07629b173b150d2a9a654df03e0 --- /dev/null +++ b/annotations/task-0047/episode_00472430.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11196, + "valid_duration": [0, 11196] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 376], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [381, 1346], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1346, 2293], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2301, 2811], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2811, 3078], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3078, 3326], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3326, 3681], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3681, 3799], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3799, 3980], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3980, 4865], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4967, 5357], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5357, 5928], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5928, 6072], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6084, 6436], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6436, 6533], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6533, 7005], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7005, 7105], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7105, 7563], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7563, 8392], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8392, 8787], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8787, 9153], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9153, 9219], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9219, 9799], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9799, 10335], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["middle_level", "middle_level"]], + "frame_duration": [10342, 10506], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10506, 10915], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10915, 11196], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1346], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1346, 2293], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2301, 2811], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2811, 3326], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3326, 3799], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3799, 4865], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4967, 5357], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5357, 5928], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5928, 6436], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6436, 7105], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7105, 8392], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [["middle_level", ""], ["middle_level", "high_level"]]], + "frame_duration": [8392, 10915], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10915, 11196], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472440.json b/annotations/task-0047/episode_00472440.json new file mode 100644 index 0000000000000000000000000000000000000000..05da05ba569005feebe9895aed0fba77081d1df3 --- /dev/null +++ b/annotations/task-0047/episode_00472440.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13712, + "valid_duration": [0, 13712] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 699], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [699, 2001], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [2001, 3283], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [3283, 3830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3830, 4194], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4194, 4544], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4544, 5028], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5028, 5211], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5211, 5649], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [5649, 6714], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [6714, 7689], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [7690, 8113], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8114, 8484], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8484, 8793], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8794, 8875], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8876, 9415], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9415, 9582], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9582, 10032], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10032, 11002], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11002, 11455], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11456, 11831], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11831, 11876], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11876, 12116], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [12116, 12769], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12769, 13043], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [13043, 13455], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13455, 13712], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 2001], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [2001, 3283], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [3283, 3830], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3830, 4544], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4544, 5211], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [5211, 6714], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [6714, 7689], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [7690, 8113], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8114, 8793], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8794, 9582], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9582, 11002], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [11002, 13455], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [13455, 13712], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472450.json b/annotations/task-0047/episode_00472450.json new file mode 100644 index 0000000000000000000000000000000000000000..167d135c68c4d7246e4b116985e09c5b752bc815 --- /dev/null +++ b/annotations/task-0047/episode_00472450.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10388, + "valid_duration": [0, 10388] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 295], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [295, 1170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1170, 1871], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1871, 2315], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2315, 2418], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2418, 2667], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2667, 3132], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3132, 3218], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3219, 3404], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3404, 4399], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4399, 5062], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5062, 5609], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5609, 5688], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5688, 5975], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5975, 6348], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6348, 6458], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6458, 6889], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6889, 7570], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7570, 7980], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7980, 8297], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8297, 8397], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8397, 8658], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8658, 9333], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9333, 9564], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9564, 10143], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10143, 10388], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1170], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1170, 1871], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1871, 2315], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2315, 2667], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2667, 3218], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3219, 4399], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4399, 5062], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5062, 5609], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5609, 5975], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5975, 6458], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6458, 7570], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7570, 10143], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10143, 10388], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472460.json b/annotations/task-0047/episode_00472460.json new file mode 100644 index 0000000000000000000000000000000000000000..c9f270f6ffa2d17bd8cae0e6be8c11f9abf8c6f7 --- /dev/null +++ b/annotations/task-0047/episode_00472460.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12013, + "valid_duration": [0, 12013] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 355], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [355, 1295], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1295, 2160], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2160, 2613], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2613, 3001], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3001, 3242], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3242, 3878], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3878, 4019], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4019, 4478], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4478, 5396], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5546, 6454], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6454, 6913], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6913, 7342], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7342, 7461], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7461, 7513], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7513, 8231], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8231, 8342], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8342, 8719], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8719, 9510], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9510, 9889], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9889, 10125], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10125, 10296], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10296, 10539], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10539, 11089], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11089, 11325], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11325, 11754], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11754, 12013], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1295], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1295, 2160], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2160, 2613], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2613, 3242], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3242, 4019], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4019, 5396], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5546, 6454], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6454, 6913], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6913, 7461], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7461, 8342], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8342, 9510], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9510, 11754], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11754, 12013], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472470.json b/annotations/task-0047/episode_00472470.json new file mode 100644 index 0000000000000000000000000000000000000000..914efb92f2ae8e657dd4d7670f6977c4f6fa23aa --- /dev/null +++ b/annotations/task-0047/episode_00472470.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11460, + "valid_duration": [0, 11460] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 519], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [519, 1480], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1480, 2457], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2457, 3007], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3008, 3210], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3210, 3528], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3528, 4087], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4087, 4222], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4222, 4414], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4415, 5442], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5442, 6180], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6180, 6797], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6797, 7006], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7006, 7083], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7083, 7159], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7159, 7627], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7627, 7780], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7780, 8253], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8254, 8944], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8945, 9338], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9338, 9631], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9631, 9717], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9717, 9994], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9994, 10679], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10679, 10849], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10849, 11226], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11226, 11460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1480], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1480, 2457], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2457, 3007], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3008, 3528], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3528, 4222], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4222, 5442], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5442, 6180], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6180, 6797], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6797, 7083], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7083, 7780], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7780, 8944], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8945, 11226], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11226, 11460], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472480.json b/annotations/task-0047/episode_00472480.json new file mode 100644 index 0000000000000000000000000000000000000000..5b112d556c34bda1e3226aa48483564a16569b73 --- /dev/null +++ b/annotations/task-0047/episode_00472480.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10566, + "valid_duration": [0, 10566] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 449], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [449, 1299], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1299, 2159], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2159, 2498], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2498, 2707], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2707, 3103], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3103, 3423], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3423, 3580], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3580, 3753], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3753, 4433], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4433, 5034], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5034, 5695], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5695, 6006], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6006, 6249], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6249, 6364], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6364, 6761], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6761, 6863], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6863, 7294], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7294, 7916], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7916, 8181], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8181, 8556], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8556, 8853], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8853, 9618], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9618, 9800], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9800, 10221], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10221, 10566], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1299], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1299, 2159], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2159, 2498], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2498, 3103], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3103, 3580], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3580, 4433], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4433, 5034], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5034, 5695], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5695, 6249], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6249, 6863], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6863, 7916], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7916, 10221], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10221, 10566], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472490.json b/annotations/task-0047/episode_00472490.json new file mode 100644 index 0000000000000000000000000000000000000000..d5b274c4a5ec2a16c15212415b7adc9ec91ce94d --- /dev/null +++ b/annotations/task-0047/episode_00472490.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11832, + "valid_duration": [0, 11832] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 360], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [360, 1566], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1566, 2133], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2133, 2616], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2616, 3040], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3040, 3234], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3234, 3933], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3933, 4027], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4027, 4201], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4201, 5269], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5269, 6213], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6213, 6715], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6715, 6921], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6921, 7200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7200, 7350], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7350, 7720], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7720, 7834], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7834, 8285], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8285, 9112], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9112, 9486], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9486, 9781], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9781, 9817], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9817, 10132], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10132, 10809], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10809, 11170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11170, 11479], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11479, 11832], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1566], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1566, 2133], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2133, 2616], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2616, 3234], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3234, 4027], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4027, 5269], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5269, 6213], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6213, 6715], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6715, 7200], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7200, 7834], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7834, 9112], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9112, 11479], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11479, 11832], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472510.json b/annotations/task-0047/episode_00472510.json new file mode 100644 index 0000000000000000000000000000000000000000..1a2d2fdb5e85d507cdea31c53b341c0856d6e43e --- /dev/null +++ b/annotations/task-0047/episode_00472510.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10587, + "valid_duration": [6, 10593] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6, 1019], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 1, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1019, 1620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1620, 2070], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2070, 2230], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 4, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2230, 2467], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 5, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2467, 2989], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 6, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2989, 3150], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 7, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3150, 3354], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 8, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3354, 4409], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 9, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4409, 5084], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5084, 5637], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5637, 5970], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 12, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5970, 6119], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 13, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6119, 6558], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 14, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6558, 6682], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 15, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6682, 7153], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 16, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7153, 7920], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7920, 8301], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8301, 8628], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8628, 8769], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8769, 9027], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9027, 9635], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9636, 9842], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9842, 10309], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10310, 10593], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6, 1019], + "skill_idxes": [0] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1019, 1620], + "skill_idxes": [1] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1620, 2070], + "skill_idxes": [2] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2070, 2467], + "skill_idxes": [3, 4] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2467, 3150], + "skill_idxes": [5, 6] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3150, 4409], + "skill_idxes": [7, 8] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4409, 5084], + "skill_idxes": [9] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5084, 5637], + "skill_idxes": [10] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5637, 6119], + "skill_idxes": [11, 12] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6119, 6682], + "skill_idxes": [13, 14] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6682, 7920], + "skill_idxes": [15, 16] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7920, 10309], + "skill_idxes": [17, 18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10310, 10593], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472520.json b/annotations/task-0047/episode_00472520.json new file mode 100644 index 0000000000000000000000000000000000000000..15350255bad8a7f835db698ce9073b1345f2256b --- /dev/null +++ b/annotations/task-0047/episode_00472520.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11290, + "valid_duration": [0, 11290] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 514], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [514, 1408], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1408, 2085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2085, 2604], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2604, 2779], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2779, 3043], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3043, 3623], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3623, 3770], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3770, 3939], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3949, 4996], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4996, 5953], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5953, 6480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6480, 6687], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6687, 6930], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6930, 7007], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7007, 7400], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7400, 7490], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7490, 7916], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7916, 8699], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8699, 9060], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9060, 9440], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9440, 9531], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9531, 9765], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9765, 10389], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10389, 10620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10620, 11043], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11043, 11290], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1408], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1408, 2085], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2085, 2604], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2604, 3043], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3043, 3770], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3770, 4996], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4996, 5953], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5953, 6480], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6480, 6930], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6930, 7490], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7490, 8699], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8699, 11043], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11043, 11290], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472530.json b/annotations/task-0047/episode_00472530.json new file mode 100644 index 0000000000000000000000000000000000000000..74cf7669998fdefefe6790d1875204f10c148306 --- /dev/null +++ b/annotations/task-0047/episode_00472530.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11641, + "valid_duration": [122, 11763] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [122, 375], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [375, 1296], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1296, 2577], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2577, 3000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3000, 3180], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3180, 3493], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3493, 4081], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4082, 4260], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4260, 4425], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4425, 5182], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5182, 6132], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6132, 6750], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6750, 6951], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6951, 7261], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7261, 7740], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7740, 7903], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7903, 8377], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8377, 9135], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9135, 9541], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9541, 9869], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9869, 9924], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9924, 10188], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10188, 10839], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10839, 11080], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11080, 11463], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11463, 11763], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [122, 1296], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1296, 2577], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2577, 3000], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3000, 3493], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3493, 4260], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4260, 5182], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5182, 6132], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6132, 6750], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6750, 7261], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7261, 7903], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7903, 9135], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9135, 11463], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11463, 11763], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472540.json b/annotations/task-0047/episode_00472540.json new file mode 100644 index 0000000000000000000000000000000000000000..30c5ae7bbb960b06fb2ea9933de64deda7cb5817 --- /dev/null +++ b/annotations/task-0047/episode_00472540.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10590, + "valid_duration": [0, 10590] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 353], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [362, 1171], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1185, 1706], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1796, 2130], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2130, 2280], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2280, 2536], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2536, 2980], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2980, 3120], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3138, 3309], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3317, 4110], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4260, 5070], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5070, 5520], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5550, 5747], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5747, 6017], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6017, 6124], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6199, 6762], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6762, 6870], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6876, 7326], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7326, 8049], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8069, 8445], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8445, 8837], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8837, 8958], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8958, 9251], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9272, 9729], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9729, 9960], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9978, 10359], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10359, 10590], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1171], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1185, 1706], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1796, 2130], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2130, 2536], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2536, 3120], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3138, 4110], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4260, 5070], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5070, 5520], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5550, 6017], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6017, 6870], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6876, 8049], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8069, 10359], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10359, 10590], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472550.json b/annotations/task-0047/episode_00472550.json new file mode 100644 index 0000000000000000000000000000000000000000..58b197fcf0094051f866bac2fb44e2f844fede2d --- /dev/null +++ b/annotations/task-0047/episode_00472550.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11716, + "valid_duration": [0, 11716] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 282], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [283, 1311], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1311, 2191], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2191, 2634], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2635, 2986], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2987, 3257], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3257, 3810], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3825, 4022], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4023, 4212], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4213, 5119], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5119, 5814], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5814, 6329], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6329, 6636], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6636, 6859], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6859, 6991], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6991, 7452], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7452, 7627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7627, 8132], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8132, 9089], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9089, 9472], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9472, 9704], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9704, 9786], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9786, 10039], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10040, 10720], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10721, 10962], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10962, 11387], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11387, 11716], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1311], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1311, 2191], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2191, 2634], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2635, 3257], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3257, 4022], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4023, 5119], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5119, 5814], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5814, 6329], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6329, 6859], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6859, 7627], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7627, 9089], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9089, 11387], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11387, 11716], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472560.json b/annotations/task-0047/episode_00472560.json new file mode 100644 index 0000000000000000000000000000000000000000..1359aee5c8dcc06b6643ac1ba6e276ece676d69b --- /dev/null +++ b/annotations/task-0047/episode_00472560.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11016, + "valid_duration": [0, 11016] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 769], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [769, 1610], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1610, 2247], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2247, 2778], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2778, 3045], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3045, 3334], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3334, 3840], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3840, 4014], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4014, 4180], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4180, 4882], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4882, 5355], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5355, 6053], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6053, 6360], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6360, 6619], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6619, 6737], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6737, 7108], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7108, 7224], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7224, 7660], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7660, 8390], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8390, 8760], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8760, 9152], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9152, 9297], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9297, 9604], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9604, 10145], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10145, 10380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10380, 10771], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10771, 11016], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1610], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1610, 2247], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2247, 2778], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2778, 3334], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3334, 4014], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4014, 4882], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4882, 5355], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5355, 6053], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6053, 6619], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6619, 7224], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7224, 8390], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8390, 10771], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10771, 11016], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472590.json b/annotations/task-0047/episode_00472590.json new file mode 100644 index 0000000000000000000000000000000000000000..8fa3efca85ae16677d1922c63e5000d52e7cbd8f --- /dev/null +++ b/annotations/task-0047/episode_00472590.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12453, + "valid_duration": [0, 12453] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 346], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [346, 1265], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1265, 2182], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2182, 2735], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2735, 3267], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3267, 3660], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3660, 4368], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4368, 4592], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4592, 4923], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4923, 5854], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5854, 6789], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6789, 7321], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7321, 7510], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7510, 7971], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7971, 8103], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8103, 8533], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8533, 8733], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8733, 9169], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9169, 9994], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9994, 10215], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10215, 10592], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10592, 10791], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10791, 11493], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11493, 11700], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11700, 12152], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12152, 12453], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1265], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1265, 2182], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2182, 2735], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2735, 3660], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3660, 4592], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4592, 5854], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5854, 6789], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6789, 7321], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7321, 7971], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7971, 8733], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8733, 9994], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9994, 12152], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12152, 12453], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472610.json b/annotations/task-0047/episode_00472610.json new file mode 100644 index 0000000000000000000000000000000000000000..4155b6da33aaccac22d4aee0e082c2670ea1e405 --- /dev/null +++ b/annotations/task-0047/episode_00472610.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11070, + "valid_duration": [0, 11070] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 345], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [345, 1322], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1322, 2126], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2126, 2460], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2460, 2589], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2592, 2910], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2910, 3310], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3310, 3466], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3466, 3660], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3660, 4590], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4590, 5280], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5430, 5820], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5820, 6097], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6097, 6420], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6420, 6537], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6537, 7066], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7066, 7206], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7206, 7672], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7672, 8430], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8430, 8781], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8781, 9135], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9135, 9174], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9174, 9459], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9459, 10179], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10179, 10380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10487, 10830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10830, 11070], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1322], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1322, 2126], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2126, 2460], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2460, 2910], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2910, 3466], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3466, 4590], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4590, 5280], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5430, 5820], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5820, 6420], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6420, 7206], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7206, 8430], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8430, 10830], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10830, 11070], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472620.json b/annotations/task-0047/episode_00472620.json new file mode 100644 index 0000000000000000000000000000000000000000..af6c320c188b893781c705fec3d97cc4e06067fd --- /dev/null +++ b/annotations/task-0047/episode_00472620.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10510, + "valid_duration": [0, 10510] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 130], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [130, 1103], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1103, 1751], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1751, 2255], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2256, 2616], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2616, 2902], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2905, 3514], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3514, 3609], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3609, 3876], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3876, 4853], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4853, 5617], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5617, 6132], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6132, 6319], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6326, 6540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6540, 6632], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6632, 7139], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7139, 7230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7236, 7620], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7630, 8284], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8284, 8556], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8556, 8824], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8825, 8844], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8844, 9024], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9024, 9681], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9681, 9866], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9866, 10302], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10302, 10510], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1103], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1103, 1751], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1751, 2255], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2256, 2902], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2905, 3609], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3609, 4853], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4853, 5617], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5617, 6132], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6132, 6540], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6540, 7230], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7236, 8284], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8284, 10302], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10302, 10510], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472640.json b/annotations/task-0047/episode_00472640.json new file mode 100644 index 0000000000000000000000000000000000000000..194226b4352a3a3058881a649c68f89b7d30ea00 --- /dev/null +++ b/annotations/task-0047/episode_00472640.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10938, + "valid_duration": [0, 10938] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 416], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [417, 1326], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1336, 2209], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2209, 2678], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2678, 2863], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2864, 3018], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3108, 3551], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3551, 3710], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3710, 3829], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3829, 4814], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4815, 5429], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5430, 5787], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5787, 5922], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6032, 6150], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6157, 6217], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6217, 6587], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6587, 6726], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6726, 7150], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7152, 7875], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7883, 8234], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8234, 8571], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8571, 8710], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8710, 9067], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9067, 9763], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9768, 10052], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10053, 10429], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10430, 10938], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1326], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1336, 2209], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2209, 2678], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2678, 3018], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3108, 3710], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3710, 4814], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4815, 5429], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5430, 5787], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5787, 6150], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6157, 6726], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6726, 7875], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7883, 10429], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10430, 10938], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472650.json b/annotations/task-0047/episode_00472650.json new file mode 100644 index 0000000000000000000000000000000000000000..83bb11fc40ade47c1158db82110e6044d8180555 --- /dev/null +++ b/annotations/task-0047/episode_00472650.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11436, + "valid_duration": [0, 11436] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 486], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [486, 1434], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1434, 2037], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2037, 2532], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2532, 2893], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2893, 3087], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3087, 3783], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3783, 3870], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3870, 4212], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4212, 5229], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5229, 5969], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5969, 6384], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6384, 6711], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6711, 7032], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7032, 7083], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7083, 7545], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7545, 7659], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7659, 8096], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8097, 8886], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8886, 9072], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9072, 9480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9480, 9687], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9687, 10398], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10398, 10617], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10617, 11118], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11118, 11436], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1434], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1434, 2037], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2037, 2532], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2532, 3087], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3087, 3870], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3870, 5229], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5229, 5969], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5969, 6384], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6384, 7032], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7032, 7659], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7659, 8886], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8886, 11118], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11118, 11436], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472670.json b/annotations/task-0047/episode_00472670.json new file mode 100644 index 0000000000000000000000000000000000000000..f2eb351d447489d067b72ba854c91b8db407bfcb --- /dev/null +++ b/annotations/task-0047/episode_00472670.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12199, + "valid_duration": [0, 12199] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 247], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [247, 1275], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1275, 1985], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1985, 2472], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2473, 2746], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2746, 3090], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3090, 3635], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3635, 3774], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3774, 3972], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3972, 4760], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4760, 5842], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5842, 6509], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6509, 6772], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6772, 7070], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7070, 7236], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7236, 7823], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7823, 7941], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7941, 8438], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8438, 9260], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9261, 9692], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9692, 10062], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10071, 10154], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10154, 10477], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10477, 11183], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11183, 11402], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11402, 11914], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11914, 12199], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1275], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1275, 1985], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1985, 2472], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2473, 3090], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3090, 3774], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3774, 4760], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4760, 5842], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5842, 6509], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6509, 7070], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7070, 7941], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7941, 9260], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9261, 11914], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11914, 12199], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472700.json b/annotations/task-0047/episode_00472700.json new file mode 100644 index 0000000000000000000000000000000000000000..7381e6132c943e83e5b53b607f53943951d42c22 --- /dev/null +++ b/annotations/task-0047/episode_00472700.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10577, + "valid_duration": [0, 10577] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 443], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [443, 1311], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1311, 2012], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2012, 2485], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2485, 2796], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2796, 3007], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3008, 3552], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3552, 3718], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3718, 3998], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3998, 4905], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4905, 5553], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5553, 5935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5935, 6229], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6229, 6418], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6418, 6583], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6583, 7026], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7026, 7129], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7129, 7508], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7508, 8173], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8173, 8382], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8382, 8786], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8786, 8983], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8988, 9703], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9705, 9880], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9880, 10320], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10320, 10577], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1311], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1311, 2012], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2012, 2485], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2485, 3007], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3008, 3718], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3718, 4905], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4905, 5553], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5553, 5935], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5935, 6418], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6418, 7129], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7129, 8173], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8173, 10320], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10320, 10577], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472710.json b/annotations/task-0047/episode_00472710.json new file mode 100644 index 0000000000000000000000000000000000000000..337581374d6542d12b4ac39badb51835eb334b25 --- /dev/null +++ b/annotations/task-0047/episode_00472710.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10605, + "valid_duration": [0, 10605] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 688], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [688, 1616], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1616, 2301], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2331, 2622], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2634, 2778], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2778, 3056], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3056, 3683], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3683, 3795], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3795, 4044], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4044, 5004], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5004, 5561], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5561, 5964], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5964, 6215], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6218, 6453], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6453, 6550], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6553, 6846], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6846, 6955], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6955, 7285], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7285, 8032], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8032, 8452], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8455, 8808], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8808, 8968], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8968, 9206], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9206, 9793], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9793, 10002], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10002, 10398], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10401, 10605], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1616], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1616, 2301], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2331, 2622], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2634, 3056], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3056, 3795], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3795, 5004], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5004, 5561], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5561, 5964], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5964, 6453], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6453, 6955], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6955, 8032], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8032, 10398], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10401, 10605], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472730.json b/annotations/task-0047/episode_00472730.json new file mode 100644 index 0000000000000000000000000000000000000000..4cf183fe91d2a6e8363cc5240b165c60aff482d8 --- /dev/null +++ b/annotations/task-0047/episode_00472730.json @@ -0,0 +1,455 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11016, + "valid_duration": [0, 11016] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 326], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [326, 1122], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1122, 2033], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2033, 2393], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2393, 2670], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2670, 2924], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2924, 3488], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3488, 3635], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3635, 3910], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3910, 4767], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4767, 5501], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5501, 6242], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6242, 6603], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6603, 6876], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6876, 7446], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7446, 7562], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7562, 7970], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7970, 8852], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8852, 9206], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9206, 9407], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9407, 9568], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9568, 10125], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10125, 10336], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10336, 10765], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10772, 11016], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1122], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1122, 2033], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2033, 2393], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2393, 2924], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2924, 3635], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3635, 4767], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4767, 5501], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5501, 6242], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6242, 6876], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6876, 7562], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7562, 8852], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8852, 10765], + "skill_idxes": [18, 19, 20, 21, 22, 23] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10772, 11016], + "skill_idxes": [24] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472740.json b/annotations/task-0047/episode_00472740.json new file mode 100644 index 0000000000000000000000000000000000000000..78b9e96fa85ead849fec5e13cb524b4be984a24b --- /dev/null +++ b/annotations/task-0047/episode_00472740.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10560, + "valid_duration": [0, 10560] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 384], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [386, 1309], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1431, 2274], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2276, 2646], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2648, 2995], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3015, 3216], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3219, 3609], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3611, 3786], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3788, 3912], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3912, 4777], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4779, 5379], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5499, 5898], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5900, 6205], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6207, 6368], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6369, 6442], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6444, 6847], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6849, 6943], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6945, 7320], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7334, 7975], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7980, 8377], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8379, 8767], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8775, 8910], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8910, 9240], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9240, 9768], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9768, 9946], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10045, 10344], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10349, 10560], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1309], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1431, 2274], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2276, 2646], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2648, 3216], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3219, 3786], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3788, 4777], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4779, 5379], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5499, 5898], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5900, 6368], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6369, 6943], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6945, 7975], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7980, 10344], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10349, 10560], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472760.json b/annotations/task-0047/episode_00472760.json new file mode 100644 index 0000000000000000000000000000000000000000..39be4b14c9a18fcbd0e9429547281cb6260b646b --- /dev/null +++ b/annotations/task-0047/episode_00472760.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10680, + "valid_duration": [0, 10680] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 581], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [581, 1403], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1403, 2278], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2278, 2886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2886, 3032], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3032, 3313], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3313, 3807], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3807, 3924], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3924, 4104], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4104, 4957], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4957, 5568], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5568, 6126], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6126, 6264], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6264, 6497], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6497, 6932], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6932, 7055], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7055, 7497], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7498, 8199], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8199, 8598], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8598, 8842], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8842, 8906], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8906, 9152], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9152, 9816], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9816, 9998], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9998, 10435], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10435, 10680], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1403], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1403, 2278], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2278, 2886], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2886, 3313], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3313, 3924], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3924, 4957], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4957, 5568], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5568, 6126], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6126, 6497], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6497, 7055], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7055, 8199], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8199, 10435], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10435, 10680], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472770.json b/annotations/task-0047/episode_00472770.json new file mode 100644 index 0000000000000000000000000000000000000000..f5de2447f67ebec9b6ad7185e7243da9f2ea4a3e --- /dev/null +++ b/annotations/task-0047/episode_00472770.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10943, + "valid_duration": [0, 10943] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 300], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [300, 1224], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1224, 2085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2085, 2524], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2524, 2839], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2839, 3162], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3163, 3610], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3610, 3711], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3711, 3877], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3877, 4818], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4818, 5620], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [5620, 6168], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6168, 6551], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6551, 6735], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6735, 7305], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7305, 7422], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7422, 7853], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7854, 8433], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8433, 8823], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8823, 9057], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9058, 9116], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9116, 9488], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9488, 10154], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["middle_level", "middle_level"]], + "frame_duration": [10155, 10370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["high_level", "high_level"]], + "frame_duration": [10370, 10693], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10693, 10943], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1224], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1224, 2085], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2085, 2524], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2524, 3162], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3163, 3711], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3711, 4818], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4818, 5620], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [5620, 6168], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6168, 6735], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6735, 7422], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7422, 8433], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [["middle_level", "high_level"], ["middle_level", "high_level"]]], + "frame_duration": [8433, 10693], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10693, 10943], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472780.json b/annotations/task-0047/episode_00472780.json new file mode 100644 index 0000000000000000000000000000000000000000..278734e89381ff35f587d0aec82c753ab3a3759b --- /dev/null +++ b/annotations/task-0047/episode_00472780.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11457, + "valid_duration": [0, 11457] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 637], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [637, 1451], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1451, 2916], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2916, 3449], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3449, 3576], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3576, 3783], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3783, 4318], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4318, 4438], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4438, 4620], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4620, 5484], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5484, 6573], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6573, 7047], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7047, 7172], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7172, 7380], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7380, 7475], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7475, 7817], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7817, 7895], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7895, 8359], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8359, 9096], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9096, 9441], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9441, 9683], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9683, 9738], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9738, 9959], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9959, 10601], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10601, 10816], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10816, 11210], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11210, 11457], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1451], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1451, 2916], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2916, 3449], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3449, 3783], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3783, 4438], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4438, 5484], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5484, 6573], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6573, 7047], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7047, 7380], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7380, 7895], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7895, 9096], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9096, 11210], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11210, 11457], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472790.json b/annotations/task-0047/episode_00472790.json new file mode 100644 index 0000000000000000000000000000000000000000..e22a530d3dfe605a2ccab83979c9ae2235154730 --- /dev/null +++ b/annotations/task-0047/episode_00472790.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10376, + "valid_duration": [0, 10376] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 290], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [290, 1052], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1052, 2002], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2002, 2482], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2483, 2581], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2581, 2935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2995, 3435], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3435, 3540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3540, 3741], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3741, 4552], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4552, 5295], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5295, 5739], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5739, 5881], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5881, 6184], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6184, 6679], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6679, 6800], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6800, 7277], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7277, 7905], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7905, 8280], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8280, 8605], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8605, 8730], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8730, 8963], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8963, 9529], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9529, 9712], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9712, 10108], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10108, 10376], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1052], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1052, 2002], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2002, 2482], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2483, 2935], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2995, 3540], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3540, 4552], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4552, 5295], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5295, 5739], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5739, 6184], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6184, 6800], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6800, 7905], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7905, 10108], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10108, 10376], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472800.json b/annotations/task-0047/episode_00472800.json new file mode 100644 index 0000000000000000000000000000000000000000..426410ad080e1c7a719dbc1c0436009253de5dfe --- /dev/null +++ b/annotations/task-0047/episode_00472800.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10802, + "valid_duration": [0, 10802] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 592], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [592, 1516], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1516, 2109], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2109, 2508], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2508, 2836], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2836, 3018], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3018, 3556], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3556, 3652], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3652, 3887], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3887, 4686], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4686, 5830], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5830, 6230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6230, 6510], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6510, 6822], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6822, 6871], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6874, 7262], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7262, 7332], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7332, 7715], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7715, 8352], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8352, 8700], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8700, 9014], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9014, 9124], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9124, 9400], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9400, 10020], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10020, 10227], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10227, 10585], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10585, 10802], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1516], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1516, 2109], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2109, 2508], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2508, 3018], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3018, 3652], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3652, 4686], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4686, 5830], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5830, 6230], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6230, 6822], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6822, 7332], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7332, 8352], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8352, 10585], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10585, 10802], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472810.json b/annotations/task-0047/episode_00472810.json new file mode 100644 index 0000000000000000000000000000000000000000..94bc9e2a0bffdcb0c7dddb3518e7bf8adc2d811d --- /dev/null +++ b/annotations/task-0047/episode_00472810.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10266, + "valid_duration": [0, 10266] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 355], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [355, 1184], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1184, 1894], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [1894, 2315], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2341, 2473], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2473, 2769], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2769, 3197], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3197, 3341], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3341, 3552], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3552, 4368], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4368, 5026], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5026, 5546], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5546, 5729], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5729, 6060], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6060, 6499], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6499, 6604], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6604, 6972], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6972, 7759], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7759, 8169], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8169, 8657], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8657, 8683], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8683, 9170], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9170, 9528], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9528, 9696], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9696, 10064], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10064, 10266], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1184], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1184, 1894], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [1894, 2315], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2341, 2769], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2769, 3341], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3341, 4368], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4368, 5026], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5026, 5546], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5546, 6060], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6060, 6604], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6604, 7759], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7759, 10064], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10064, 10266], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472830.json b/annotations/task-0047/episode_00472830.json new file mode 100644 index 0000000000000000000000000000000000000000..1ba35d7e3d13c1601e0cc8f4b6d5b305e34d9137 --- /dev/null +++ b/annotations/task-0047/episode_00472830.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 13191, + "valid_duration": [0, 13191] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 462], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [462, 1576], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1576, 2552], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2552, 3089], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3089, 3413], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3413, 3750], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3750, 4327], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4327, 4447], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4448, 5074], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [5074, 6040], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [6040, 7241], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [7241, 7707], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7707, 8004], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8004, 8250], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8250, 8395], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8395, 9004], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9004, 9193], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9193, 9645], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9645, 10498], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10501, 10741], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10741, 11207], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [11207, 11409], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [11409, 12069], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [12069, 12315], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [12315, 12847], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12847, 13191], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1576], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1576, 2552], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2552, 3089], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3089, 3750], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3750, 4447], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4448, 6040], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [6040, 7241], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [7241, 7707], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7707, 8250], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [8250, 9193], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9193, 10498], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [10501, 12847], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [12847, 13191], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472840.json b/annotations/task-0047/episode_00472840.json new file mode 100644 index 0000000000000000000000000000000000000000..14bf771f2a530d4161ebd2cccde598947dfdb202 --- /dev/null +++ b/annotations/task-0047/episode_00472840.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10101, + "valid_duration": [0, 10101] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 641], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [641, 1370], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1370, 1997], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1997, 2492], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2493, 2682], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2682, 2933], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2933, 3287], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3287, 3381], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3382, 3564], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3564, 4408], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4408, 5051], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5051, 5502], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5503, 5721], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5721, 5998], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5998, 6064], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6064, 6392], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6392, 6501], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6501, 6900], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6900, 7653], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7653, 8031], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8032, 8330], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8331, 8454], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8454, 8658], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8659, 9278], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9278, 9445], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9446, 9868], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9869, 10101], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1370], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1370, 1997], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1997, 2492], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2493, 2933], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2933, 3381], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3382, 4408], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4408, 5051], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5051, 5502], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5503, 5998], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5998, 6501], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6501, 7653], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7653, 9868], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9869, 10101], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472850.json b/annotations/task-0047/episode_00472850.json new file mode 100644 index 0000000000000000000000000000000000000000..67b9999e6fe3a58576552af42ae663413a594b9f --- /dev/null +++ b/annotations/task-0047/episode_00472850.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 9776, + "valid_duration": [0, 9776] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 259], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [259, 1091], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1092, 1706], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1707, 2159], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2159, 2412], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2412, 2650], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2650, 3081], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3082, 3190], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3190, 3359], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3359, 4167], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4167, 4770], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4770, 5253], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5253, 5490], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5490, 5739], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5739, 6241], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6242, 6332], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6332, 6718], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6718, 7427], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7427, 7827], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7828, 8123], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8123, 8189], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8189, 8428], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8428, 9043], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9043, 9191], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9191, 9540], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9541, 9776], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1091], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1092, 1706], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1707, 2159], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2159, 2650], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2650, 3190], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3190, 4167], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4167, 4770], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4770, 5253], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5253, 5739], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5739, 6332], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6332, 7427], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7427, 9540], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9541, 9776], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472860.json b/annotations/task-0047/episode_00472860.json new file mode 100644 index 0000000000000000000000000000000000000000..0e00dd802e045f0582caf17fddd28822d0c2c7eb --- /dev/null +++ b/annotations/task-0047/episode_00472860.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10339, + "valid_duration": [0, 10339] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 262], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [262, 1019], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1019, 1660], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1660, 2143], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2143, 2490], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2490, 2721], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2721, 3204], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3204, 3330], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3330, 3593], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [3593, 4476], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4476, 5012], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [5012, 5359], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5359, 5537], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5537, 5832], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5832, 5895], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5895, 6336], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6336, 6525], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6525, 6882], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6882, 7881], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7881, 8259], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8259, 8606], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8606, 8690], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8690, 8910], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8910, 9499], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9499, 9656], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9656, 10087], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10129, 10339], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1019], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1019, 1660], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1660, 2143], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2143, 2721], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2721, 3330], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3330, 4476], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4476, 5012], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [5012, 5359], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5359, 5832], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5832, 6525], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6525, 7881], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7881, 10087], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10129, 10339], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472880.json b/annotations/task-0047/episode_00472880.json new file mode 100644 index 0000000000000000000000000000000000000000..2802a6ea8d6d2af2c2ccd964d63d30bfa671bccf --- /dev/null +++ b/annotations/task-0047/episode_00472880.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10487, + "valid_duration": [0, 10487] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 275], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [275, 1089], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1089, 1725], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1725, 2153], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2153, 2416], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2416, 2692], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2692, 3177], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3177, 3335], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3335, 3643], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [3643, 4456], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4456, 5480], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [5480, 5850], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5850, 5937], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5937, 6221], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6221, 6277], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6277, 6587], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6587, 6735], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6735, 7316], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7316, 7986], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7986, 8335], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8335, 8669], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8669, 8822], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8822, 9606], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9606, 9835], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9835, 10251], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10251, 10487], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1089], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1089, 1725], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1725, 2153], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2153, 2692], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2692, 3335], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3335, 4456], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4456, 5480], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [5480, 5850], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5850, 6221], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6221, 6735], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6735, 7986], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7986, 10251], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10251, 10487], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472890.json b/annotations/task-0047/episode_00472890.json new file mode 100644 index 0000000000000000000000000000000000000000..2a72d13e8c9940f73293c1d199f4f53bf5d8e507 --- /dev/null +++ b/annotations/task-0047/episode_00472890.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10279, + "valid_duration": [0, 10279] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 152], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [152, 946], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [946, 1861], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [1861, 2623], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2623, 2769], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2769, 3055], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3055, 3360], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3360, 3481], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3481, 3627], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3627, 4548], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4548, 5063], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5063, 5584], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5584, 5781], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5781, 5997], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5997, 6090], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6090, 6384], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6384, 6551], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6551, 7089], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7089, 7742], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7742, 8073], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8073, 8417], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8417, 8497], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "floors_kxcpgy_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8497, 8715], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8715, 9415], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9415, 9656], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9656, 10006], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10006, 10279], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 946], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [946, 1861], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [1861, 2623], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2623, 3055], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3055, 3481], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3481, 4548], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4548, 5063], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5063, 5584], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5584, 5997], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5997, 6551], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6551, 7742], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], ["countertop_kelzer_0", "floors_kxcpgy_0"]], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7742, 10006], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10006, 10279], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472900.json b/annotations/task-0047/episode_00472900.json new file mode 100644 index 0000000000000000000000000000000000000000..ab3379233ee4325ed65b4ec594a69443e56edb15 --- /dev/null +++ b/annotations/task-0047/episode_00472900.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10230, + "valid_duration": [0, 10230] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 285], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [285, 1180], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1180, 2329], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2329, 2655], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2656, 2850], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2850, 3155], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3155, 3565], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3566, 3703], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3703, 3940], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [3940, 4782], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4782, 5805], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5805, 6169], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6169, 6414], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6414, 6613], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6613, 6647], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6647, 7002], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7003, 7109], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7109, 7569], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7569, 8280], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8280, 8469], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8469, 8840], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8840, 8951], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8951, 9502], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9502, 9640], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9640, 9989], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10017, 10230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1180], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1180, 2329], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2329, 2655], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2656, 3155], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3155, 3703], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3703, 4782], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4782, 5805], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5805, 6169], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6169, 6613], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6613, 7109], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7109, 8280], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8280, 9989], + "skill_idxes": [19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [10017, 10230], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472910.json b/annotations/task-0047/episode_00472910.json new file mode 100644 index 0000000000000000000000000000000000000000..dc69aebbc17eb22fc77b813b7f89d6b2e4e7ad08 --- /dev/null +++ b/annotations/task-0047/episode_00472910.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11347, + "valid_duration": [0, 11347] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 277], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [277, 1250], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1250, 2195], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [2209, 2733], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2733, 3045], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3059, 3256], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3269, 3861], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3861, 4031], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4031, 4237], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4238, 5209], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5209, 5946], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [5946, 6483], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6483, 6787], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6787, 6880], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [6880, 7032], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7032, 7297], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7297, 7458], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7458, 7937], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7938, 8833], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8833, 9175], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9176, 9433], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9433, 9522], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9522, 9804], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9804, 10481], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10482, 10681], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [10681, 11054], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11054, 11347], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [0, 1250], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1250, 2195], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [2209, 2733], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2733, 3256], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3269, 4031], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [4031, 5209], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5209, 5946], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [5946, 6483], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6483, 6880], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [6880, 7458], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7458, 8833], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [8833, 11054], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11054, 11347], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472940.json b/annotations/task-0047/episode_00472940.json new file mode 100644 index 0000000000000000000000000000000000000000..88c207794c86e59798c40637b1342e32671cf2aa --- /dev/null +++ b/annotations/task-0047/episode_00472940.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11597, + "valid_duration": [0, 11597] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 350], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [350, 1300], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1301, 2142], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [2143, 2592], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2593, 2926], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2926, 3060], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3060, 3702], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3702, 3893], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3894, 4168], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4169, 5061], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5061, 6003], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [6003, 6553], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6553, 6761], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6762, 7153], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7154, 7303], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7304, 7862], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7862, 8012], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8012, 8421], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8427, 9254], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9255, 9646], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9646, 9838], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9838, 9880], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9880, 10038], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10038, 10763], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [10764, 11005], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11005, 11355], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11367, 11597], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [0, 1300], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1301, 2142], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [2143, 2592], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2593, 3060], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3060, 3893], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3894, 5061], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5061, 6003], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [6003, 6553], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6553, 7153], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7154, 8012], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8012, 9254], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9255, 11355], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11367, 11597], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472950.json b/annotations/task-0047/episode_00472950.json new file mode 100644 index 0000000000000000000000000000000000000000..369952f289dcc66092397f345bf2aacad71a2c43 --- /dev/null +++ b/annotations/task-0047/episode_00472950.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12297, + "valid_duration": [0, 12297] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 342], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [343, 1612], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["second_right_door", "high_level"]], + "frame_duration": [1680, 2230], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2230, 2721], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2721, 2874], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2877, 3167], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3167, 3791], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3792, 3935], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3936, 4308], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4312, 5505], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5517, 6216], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6231, 6609], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6639, 6768], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6779, 7085], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7085, 7191], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7202, 7717], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7717, 7962], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7962, 8358], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8364, 9180], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9189, 9570], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9576, 10118], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10119, 10229], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10229, 10773], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10773, 11144], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11145, 11449], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11449, 11828], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11829, 12297], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1612], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"], ["high_level"]]], + "frame_duration": [1680, 2230], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2230, 2721], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2721, 3167], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3167, 3935], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3936, 5505], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5517, 6216], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6231, 6609], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6639, 7085], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7085, 7962], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7962, 9180], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9189, 11828], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11829, 12297], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472970.json b/annotations/task-0047/episode_00472970.json new file mode 100644 index 0000000000000000000000000000000000000000..9fa9a8798b5b99fac144debd34a333fcb177f354 --- /dev/null +++ b/annotations/task-0047/episode_00472970.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12000, + "valid_duration": [0, 12000] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 306], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [306, 1422], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1423, 2104], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2105, 2653], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2653, 2913], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2913, 3238], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3239, 3742], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3742, 3991], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3991, 4268], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [4269, 5262], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5262, 6440], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_left_door"]], + "frame_duration": [6440, 6951], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6951, 7137], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7137, 7515], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7515, 7626], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7626, 8300], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8300, 8478], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8478, 8886], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8886, 9612], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9612, 9760], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9760, 10249], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10249, 10294], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10294, 10516], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10516, 11175], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11176, 11367], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11367, 11791], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11791, 12000], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1422], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1423, 2104], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2105, 2653], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2653, 3238], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3239, 3991], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [3991, 5262], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5262, 6440], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_left_door"]]], + "frame_duration": [6440, 6951], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6951, 7515], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7515, 8478], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8478, 9612], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9612, 11791], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11791, 12000], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472980.json b/annotations/task-0047/episode_00472980.json new file mode 100644 index 0000000000000000000000000000000000000000..9558d370ef635c4b8ea4f6c822595012b9c30c72 --- /dev/null +++ b/annotations/task-0047/episode_00472980.json @@ -0,0 +1,479 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 12124, + "valid_duration": [0, 12124] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 357], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [357, 1443], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1443, 2200], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2200, 2720], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2720, 3120], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3120, 3298], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3298, 3819], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3819, 3954], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3954, 4353], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4353, 5308], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5308, 6065], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6066, 6455], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6455, 6669], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6669, 7024], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_235"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7024, 7095], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 15, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7095, 7646], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 16, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7646, 7886], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 17, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7886, 8430], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 18, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8430, 9350], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 19, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9351, 9728], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 20, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9728, 10207], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 21, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10207, 10294], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 22, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10294, 10582], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 23, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10582, 11271], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11271, 11465], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11465, 11905], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 26, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11905, 12124], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1443], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1443, 2200], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2200, 2720], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2720, 3298], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3298, 3954], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [3954, 5308], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5308, 6065], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6066, 6455], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6455, 7024], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7024, 7886], + "skill_idxes": [14, 15, 16] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7886, 9350], + "skill_idxes": [17, 18] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9351, 11905], + "skill_idxes": [19, 20, 21, 22, 23, 24, 25] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11905, 12124], + "skill_idxes": [26] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00472990.json b/annotations/task-0047/episode_00472990.json new file mode 100644 index 0000000000000000000000000000000000000000..93652430cf416cb5a48b39583f076784c85b2bc1 --- /dev/null +++ b/annotations/task-0047/episode_00472990.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 11910, + "valid_duration": [0, 11910] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 279], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [279, 1292], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1410, 2370], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [2402, 3020], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3020, 3480], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3480, 3650], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3650, 4085], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [4085, 4235], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [4235, 4604], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [4604, 5627], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [5627, 6406], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["first_right_door"]], + "frame_duration": [6407, 6710], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [6710, 7200], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7200, 7409], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [7466, 7922], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [7922, 8049], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8049, 8420], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8420, 9242], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [9242, 9549], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9549, 9968], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["apple_pie_234"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [9968, 10106], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [10106, 10511], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [10511, 11021], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [11021, 11252], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [11252, 11681], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11681, 11910], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1292], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1410, 2370], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [2402, 3020], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3020, 3650], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3650, 4235], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [4235, 5627], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [5627, 6406], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["first_right_door"]]], + "frame_duration": [6407, 6710], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6710, 7409], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [7466, 8049], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8049, 9242], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_231", "tupperware_230"], "countertop_kelzer_0"], [["tupperware_231", "tupperware_230"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_231", "tupperware_230"], ["tupperware_231", "tupperware_230"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [9242, 11681], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [11681, 11910], + "skill_idxes": [25] + } + ] +} \ No newline at end of file diff --git a/annotations/task-0047/episode_00473000.json b/annotations/task-0047/episode_00473000.json new file mode 100644 index 0000000000000000000000000000000000000000..1fb0cb5a04a4f118313eb5ee5159e9a866efa05a --- /dev/null +++ b/annotations/task-0047/episode_00473000.json @@ -0,0 +1,467 @@ +{ + "task_name": "freeze pies", + "data_folder": "", + "meta_data": { + "task_duration": 10141, + "valid_duration": [0, 10141] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [0, 345], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 1, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [345, 1224], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 2, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [1224, 1901], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 3, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_right_door"]], + "frame_duration": [1901, 2347], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 4, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2347, 2748], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 5, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2748, 2872], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 6, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_235", "plate_233"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2872, 3302], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 7, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [3302, 3441], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 8, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [3441, 3600], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 9, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [3600, 4410], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 10, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [4410, 4986], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 11, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [["second_left_door"]], + "frame_duration": [4986, 5489], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 12, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["countertop_kelzer_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [5489, 5802], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 13, + "skill_id": [3], + "skill_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5803, 5951], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 14, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["apple_pie_234", "plate_232"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [5951, 6415], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 15, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6415, 6517], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 16, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6517, 6902], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 17, + "skill_id": [10], + "skill_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6902, 7608], + "mp_ef": [], + "skill_type": ["coordinated"] + }, + { + "skill_idx": 18, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_230"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [7608, 8010], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 19, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [8010, 8404], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 20, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["tupperware_231"]], + "manipulating_object_id": [], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8404, 8475], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 21, + "skill_id": [2], + "skill_description": ["pick up from"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [], + "frame_duration": [8475, 8726], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 22, + "skill_id": [1], + "skill_description": ["move to"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": ["back"], + "spatial_prefix": [], + "frame_duration": [8726, 9341], + "mp_ef": [], + "skill_type": ["navigation"] + }, + { + "skill_idx": 23, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_230", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [["", "middle_level"]], + "frame_duration": [9341, 9528], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 24, + "skill_id": [4], + "skill_description": ["place in"], + "object_id": [["tupperware_231", "fridge_dszchb_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [["", "high_level"]], + "frame_duration": [9528, 9877], + "mp_ef": [], + "skill_type": ["uncoordinated"] + }, + { + "skill_idx": 25, + "skill_id": [12], + "skill_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9878, 10141], + "mp_ef": [], + "skill_type": ["uncoordinated"] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [0, 1224], + "skill_idxes": [0, 1] + }, + { + "primitive_idx": 1, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_230", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [1224, 1901], + "skill_idxes": [2] + }, + { + "primitive_idx": 2, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_right_door"]]], + "frame_duration": [1901, 2347], + "skill_idxes": [3] + }, + { + "primitive_idx": 3, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_230", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_230"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2347, 2872], + "skill_idxes": [4, 5] + }, + { + "primitive_idx": 4, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_235", "plate_233"], ["apple_pie_235", "tupperware_230"]], + "manipulating_object_id": ["apple_pie_235", "apple_pie_235"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [2872, 3441], + "skill_idxes": [6, 7] + }, + { + "primitive_idx": 5, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [3441, 4410], + "skill_idxes": [8, 9] + }, + { + "primitive_idx": 6, + "primitive_id": [2], + "primitive_description": ["pick up from"], + "object_id": [["tupperware_231", "bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": ["the other"], + "spatial_prefix": [[[], ["high_level"]]], + "frame_duration": [4410, 4986], + "skill_idxes": [10] + }, + { + "primitive_idx": 7, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["bottom_cabinet_no_top_gjeoer_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [[["second_left_door"]]], + "frame_duration": [4986, 5489], + "skill_idxes": [11] + }, + { + "primitive_idx": 8, + "primitive_id": [3], + "primitive_description": ["place on"], + "object_id": [["tupperware_231", "countertop_kelzer_0"]], + "manipulating_object_id": ["tupperware_231"], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [5489, 5951], + "skill_idxes": [12, 13] + }, + { + "primitive_idx": 9, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [["apple_pie_234", "plate_232"], ["apple_pie_234", "tupperware_231"]], + "manipulating_object_id": ["apple_pie_234", "apple_pie_234"], + "memory_prefix": ["the other", ""], + "spatial_prefix": [], + "frame_duration": [5951, 6517], + "skill_idxes": [14, 15] + }, + { + "primitive_idx": 10, + "primitive_id": [10], + "primitive_description": ["open door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [6517, 7608], + "skill_idxes": [16, 17] + }, + { + "primitive_idx": 11, + "primitive_id": [2, 4], + "primitive_description": ["pick up from", "place in"], + "object_id": [[["tupperware_230", "tupperware_231"], "countertop_kelzer_0"], [["tupperware_230", "tupperware_231"], "fridge_dszchb_0"]], + "manipulating_object_id": [["tupperware_230", "tupperware_231"], ["tupperware_230", "tupperware_231"]], + "memory_prefix": [], + "spatial_prefix": [[], [[], ["middle_level", "high_level"]]], + "frame_duration": [7608, 9877], + "skill_idxes": [18, 19, 20, 21, 22, 23, 24] + }, + { + "primitive_idx": 12, + "primitive_id": [12], + "primitive_description": ["close door"], + "object_id": [["fridge_dszchb_0"]], + "manipulating_object_id": [], + "memory_prefix": [], + "spatial_prefix": [], + "frame_duration": [9878, 10141], + "skill_idxes": [25] + } + ] +} \ No newline at end of file