diff --git a/annotations/episode_00000003.json b/annotations/episode_00000003.json new file mode 100644 index 0000000000000000000000000000000000000000..8500070eba9d4bc5b8031e1a5e2432c0004ae935 --- /dev/null +++ b/annotations/episode_00000003.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 14433, + "valid_duration": [ + 0, + 14433 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 783 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 783, + 1307 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1307, + 1380 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1380, + 1604 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1604, + 2401 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2401, + 2691 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2692, + 2780 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2786, + 3748 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3748, + 4607 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4608, + 5687 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 5693, + 5975 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5976, + 6867 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6867, + 7474 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7474, + 7826 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7826, + 8842 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 8842, + 9383 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9383, + 10092 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 10092, + 10671 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10671, + 11426 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 11426, + 11866 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 11867, + 12024 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12027, + 12743 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 12743, + 13399 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 13399, + 14008 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 14008, + 14433 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2780 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2786, + 5975 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5976, + 9383 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 9383, + 10671 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 10671, + 14008 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 14008, + 14433 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000004.json b/annotations/episode_00000004.json new file mode 100644 index 0000000000000000000000000000000000000000..fbc83f1c5317a80a26e31fc351d25e567c13cba3 --- /dev/null +++ b/annotations/episode_00000004.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 13488, + "valid_duration": [ + 0, + 13488 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 872 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 873, + 1182 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1182, + 1373 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1373, + 1515 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1516, + 2458 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2458, + 2697 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2698, + 2844 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2844, + 2964 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2964, + 3905 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3906, + 4085 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 4085, + 4539 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4539, + 5519 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5519, + 6359 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6359, + 7094 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7095, + 8233 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 8233, + 8579 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8579, + 9296 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 9296, + 10000 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10000, + 10764 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 10764, + 11172 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 11172, + 11328 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11328, + 11897 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 11898, + 12598 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 12598, + 12991 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 12991, + 13488 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2844 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2844, + 4539 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 4539, + 8579 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 8579, + 10000 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 10000, + 12991 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 12991, + 13488 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000011.json b/annotations/episode_00000011.json new file mode 100644 index 0000000000000000000000000000000000000000..21f4cc62275f5dee5e0be15bb904f2ed8877fc07 --- /dev/null +++ b/annotations/episode_00000011.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 15075, + "valid_duration": [ + 0, + 15075 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 220 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 220, + 758 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 761, + 871 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 874, + 1041 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1041, + 1902 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1902, + 2091 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2091, + 2260 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2261, + 3150 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3150, + 3748 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3779, + 5038 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 5038, + 5312 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5312, + 6223 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6223, + 7143 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7143, + 8047 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8047, + 8575 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 8575, + 9131 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9131, + 9825 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 9825, + 10768 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10768, + 11538 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 11539, + 12068 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 12068, + 12245 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12245, + 12835 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 12835, + 13851 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 13851, + 14487 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 14487, + 15075 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2260 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2261, + 5312 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5312, + 9131 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 9131, + 10768 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 10768, + 14487 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 14487, + 15075 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000019.json b/annotations/episode_00000019.json new file mode 100644 index 0000000000000000000000000000000000000000..4f98962904c6b139bd32144afbee651711053186 --- /dev/null +++ b/annotations/episode_00000019.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 15929, + "valid_duration": [ + 0, + 15929 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 466 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 466, + 827 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 827, + 956 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 956, + 1543 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1543, + 2489 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2489, + 2745 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2745, + 2818 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2819, + 3816 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3816, + 4798 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4799, + 6155 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 6155, + 6457 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6458, + 7465 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7465, + 8283 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 8283, + 9107 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9107, + 10022 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 10022, + 10398 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10398, + 10926 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 10926, + 11972 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11972, + 12761 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 12761, + 13196 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 13196, + 13414 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 13414, + 13995 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 13995, + 14747 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 14747, + 15320 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 15320, + 15929 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2818 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2819, + 6457 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6458, + 10398 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 10398, + 11972 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 11972, + 15320 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 15320, + 15929 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000020.json b/annotations/episode_00000020.json new file mode 100644 index 0000000000000000000000000000000000000000..f4a0eec946c0f710beea7a0ee7201dd8bd276c0c --- /dev/null +++ b/annotations/episode_00000020.json @@ -0,0 +1,894 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 14615, + "valid_duration": [ + 0, + 14615 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 596 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 596, + 910 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 910, + 1059 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1059, + 1944 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1944, + 2182 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2182, + 2282 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2285, + 3330 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3330, + 4135 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4135, + 5277 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 5277, + 5557 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5572, + 6207 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6207, + 6961 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6961, + 7668 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7668, + 8360 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 8360, + 8741 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8741, + 9399 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 9406, + 10170 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10170, + 10998 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 10998, + 11691 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 11691, + 11987 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11987, + 12583 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 12583, + 13423 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 13450, + 14032 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 14032, + 14615 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2282 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2285, + 5557 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5572, + 8741 + ], + "skill_idxes": [ + 10, + 11, + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 8741, + 10170 + ], + "skill_idxes": [ + 15, + 16 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 10170, + 14032 + ], + "skill_idxes": [ + 17, + 18, + 19, + 20, + 21, + 22 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 14032, + 14615 + ], + "skill_idxes": [ + 23 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000023.json b/annotations/episode_00000023.json new file mode 100644 index 0000000000000000000000000000000000000000..46e584d4f314580805efc62b69659640c1d65d77 --- /dev/null +++ b/annotations/episode_00000023.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 12839, + "valid_duration": [ + 0, + 12839 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 623 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 623, + 987 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 987, + 1246 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1247, + 1396 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1396, + 2227 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2227, + 2498 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2498, + 2647 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2648, + 2757 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2757, + 3815 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3815, + 3960 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3960, + 4280 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4280, + 5345 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5345, + 5905 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5906, + 6602 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6602, + 7609 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7610, + 7877 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7877, + 8556 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 8556, + 9329 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9329, + 10013 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 10013, + 10305 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 10305, + 10641 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10641, + 11292 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 11292, + 11974 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 11974, + 12431 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 12431, + 12839 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2647 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2648, + 4280 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 4280, + 7877 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 7877, + 9329 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_74", + "tupperware_73" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 9329, + 12431 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 12431, + 12839 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000030.json b/annotations/episode_00000030.json new file mode 100644 index 0000000000000000000000000000000000000000..7cbd2956c54a685fe222d9210a845b6d9aa504f7 --- /dev/null +++ b/annotations/episode_00000030.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 12599, + "valid_duration": [ + 0, + 12599 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 137 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 137, + 523 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 523, + 659 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 659, + 1047 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1047, + 1926 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 1926, + 2265 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2265, + 2501 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2502, + 2652 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2652, + 3447 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3447, + 3775 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3775, + 4036 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4036, + 4737 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4737, + 5622 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5622, + 6322 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6323, + 6803 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6803, + 7349 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7349, + 7962 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 7962, + 8889 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8889, + 9737 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 9737, + 10063 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 10063, + 10446 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10446, + 10976 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 10977, + 11654 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 11654, + 12112 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 12112, + 12599 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2501 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2502, + 4036 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 4036, + 7349 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 7349, + 8889 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_74", + "tupperware_73" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 8889, + 12112 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 12112, + 12599 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000033.json b/annotations/episode_00000033.json new file mode 100644 index 0000000000000000000000000000000000000000..59fd6b59ca1a23c9247363a7e5f2b14913e4e86e --- /dev/null +++ b/annotations/episode_00000033.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 15195, + "valid_duration": [ + 0, + 15195 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 903 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 903, + 1473 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1473, + 1574 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1574, + 1713 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1716, + 2460 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2460, + 2814 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2814, + 2974 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2974, + 3950 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3950, + 4945 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4945, + 6013 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 6013, + 6252 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6252, + 6864 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6864, + 8069 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 8070, + 8960 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8960, + 9577 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 9580, + 10035 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10035, + 10719 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 10719, + 11459 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11459, + 12129 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 12129, + 12619 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 12619, + 12828 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12828, + 13425 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 13425, + 14301 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 14304, + 14793 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 14793, + 15195 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2974 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2974, + 6252 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6252, + 10035 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 10035, + 11459 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 11459, + 14793 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 14793, + 15195 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000035.json b/annotations/episode_00000035.json new file mode 100644 index 0000000000000000000000000000000000000000..3e22b52b8d316f11af72ac9a47724cc7d84d66e5 --- /dev/null +++ b/annotations/episode_00000035.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 13228, + "valid_duration": [ + 0, + 13228 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 285 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 285, + 813 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 813, + 1092 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1092, + 1372 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1372, + 2353 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2353, + 2664 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2665, + 2758 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2758, + 2957 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2958, + 3859 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3859, + 4096 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 4097, + 4367 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4367, + 5369 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5369, + 6241 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6241, + 7303 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7303, + 7831 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7831, + 8339 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8339, + 8981 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 8982, + 9765 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9765, + 10487 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 10488, + 11028 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 11028, + 11265 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11265, + 11837 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 11837, + 12424 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 12425, + 12874 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 12874, + 13228 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2758 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2758, + 4367 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 4367, + 8339 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 8339, + 9765 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 9765, + 12874 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 12874, + 13228 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000049.json b/annotations/episode_00000049.json new file mode 100644 index 0000000000000000000000000000000000000000..9edfdca91dca14c1a7341a179e72a81183601666 --- /dev/null +++ b/annotations/episode_00000049.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "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": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 345 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 345, + 690 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 690, + 784 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 784, + 1183 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1184, + 2001 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2001, + 2556 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2556, + 2784 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2784, + 2868 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2868, + 3591 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3591, + 3723 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3724, + 4014 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4014, + 4624 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4624, + 5489 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5489, + 5949 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5949, + 6551 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6551, + 6812 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6812, + 7136 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 7136, + 8434 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8434, + 9072 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 9072, + 9483 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 9483, + 9855 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9855, + 10200 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 10201, + 11039 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 11039, + 11452 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 11452, + 12269 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2784 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2784, + 4014 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 4014, + 6812 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 6812, + 8434 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_74", + "tupperware_73" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 8434, + 11452 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 11452, + 12269 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000059.json b/annotations/episode_00000059.json new file mode 100644 index 0000000000000000000000000000000000000000..2eb4e34e65869b8a8cc1080c6ef33fa8316d6478 --- /dev/null +++ b/annotations/episode_00000059.json @@ -0,0 +1,894 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 14157, + "valid_duration": [ + 0, + 14157 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 530 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 530, + 924 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 924, + 1032 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1032, + 1771 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1771, + 2020 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2020, + 2182 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2182, + 3241 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3241, + 4436 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4436, + 5491 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 5491, + 6037 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6037, + 6805 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6805, + 7476 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7476, + 8262 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8262, + 8914 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 8914, + 9236 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9236, + 9921 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 9921, + 10612 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10612, + 11400 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 11403, + 11739 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 11739, + 11934 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11934, + 12478 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 12478, + 13201 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 13202, + 13717 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 13717, + 14157 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2182 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2182, + 6037 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6037, + 9236 + ], + "skill_idxes": [ + 10, + 11, + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 9236, + 10612 + ], + "skill_idxes": [ + 15, + 16 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 10612, + 13717 + ], + "skill_idxes": [ + 17, + 18, + 19, + 20, + 21, + 22 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 13717, + 14157 + ], + "skill_idxes": [ + 23 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000086.json b/annotations/episode_00000086.json new file mode 100644 index 0000000000000000000000000000000000000000..78acdbeeff9c8e1abf5bb4cb4cdb00b6f432e6d7 --- /dev/null +++ b/annotations/episode_00000086.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 12599, + "valid_duration": [ + 0, + 12599 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 409 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 409, + 858 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 858, + 882 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 882, + 1082 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1082, + 2018 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2018, + 2317 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2317, + 2412 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2412, + 2648 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2648, + 3757 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3758, + 3887 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3887, + 4139 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4139, + 5131 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5132, + 5697 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5697, + 6218 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6218, + 7220 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7220, + 7514 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7514, + 8181 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 8181, + 9045 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9045, + 9784 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 9784, + 10242 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 10242, + 10369 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10370, + 11009 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 11009, + 11656 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 11656, + 12156 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 12156, + 12599 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2412 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2412, + 4139 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 4139, + 7514 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 7514, + 9045 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 9045, + 12156 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 12156, + 12599 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000095.json b/annotations/episode_00000095.json new file mode 100644 index 0000000000000000000000000000000000000000..8a2f18b273705d92fb6750a750ad1a6def257d33 --- /dev/null +++ b/annotations/episode_00000095.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 15333, + "valid_duration": [ + 0, + 15333 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 228 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 229, + 658 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 658, + 766 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 766, + 1248 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1248, + 2150 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2151, + 2673 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2673, + 2821 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2821, + 3906 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3906, + 4898 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4898, + 5874 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 5874, + 6245 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6246, + 7203 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7203, + 7957 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7958, + 8643 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8643, + 9604 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 9604, + 10074 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10074, + 10782 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 10782, + 11422 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11422, + 12216 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 12216, + 12603 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 12603, + 12729 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12729, + 13377 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 13378, + 14358 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 14358, + 14814 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 14814, + 15333 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_74", + "tupperware_73" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_74", + "tupperware_73" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2821 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2821, + 6245 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6246, + 10074 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 10074, + 11422 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_74", + "tupperware_73" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 11422, + 14814 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 14814, + 15333 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000099.json b/annotations/episode_00000099.json new file mode 100644 index 0000000000000000000000000000000000000000..8c816473dbac65e0db94b2c697470442b9470b42 --- /dev/null +++ b/annotations/episode_00000099.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 14519, + "valid_duration": [ + 0, + 14519 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 716 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 716, + 1087 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1087, + 1322 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 1322, + 1538 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1538, + 2466 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2466, + 2793 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2793, + 3032 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3034, + 4010 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 4010, + 4958 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4958, + 5985 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 5985, + 6439 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6439, + 7428 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7429, + 8127 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 8127, + 8767 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8767, + 9691 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 9691, + 10161 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10162, + 10770 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 10774, + 11337 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11338, + 12153 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 12153, + 12437 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 12437, + 12573 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12574, + 13260 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 13260, + 13671 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 13671, + 14115 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 14115, + 14519 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_74", + "tupperware_73" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_74", + "tupperware_73" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 3032 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3034, + 6439 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6439, + 10161 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 10162, + 11337 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_74", + "tupperware_73" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 11338, + 14115 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 14115, + 14519 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000162.json b/annotations/episode_00000162.json new file mode 100644 index 0000000000000000000000000000000000000000..f2843ff404d64b527f94ba6162f64cdb8907bd7e --- /dev/null +++ b/annotations/episode_00000162.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 13464, + "valid_duration": [ + 0, + 13464 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 741 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 741, + 1108 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1108, + 1235 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1235, + 1575 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1575, + 2505 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2506, + 2877 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2877, + 2964 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2964, + 3617 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3617, + 4874 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4874, + 5405 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 5405, + 5800 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5801, + 6702 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6702, + 7438 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7438, + 8026 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8026, + 8793 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 8793, + 8981 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8981, + 9600 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 9600, + 10328 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10328, + 11005 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 11005, + 11431 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 11431, + 11553 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11553, + 12228 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 12228, + 12631 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 12631, + 13058 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 13059, + 13464 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2964 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2964, + 5800 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5801, + 8981 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 8981, + 10328 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 10328, + 13058 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 13059, + 13464 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000172.json b/annotations/episode_00000172.json new file mode 100644 index 0000000000000000000000000000000000000000..a6ba5c8ddd5f7bf5ec643fdfa31efd66ca46f16d --- /dev/null +++ b/annotations/episode_00000172.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 12852, + "valid_duration": [ + 0, + 12852 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 917 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 917, + 1278 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1278, + 1502 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1502, + 1681 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1682, + 2577 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2577, + 2863 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2577, + 2863 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2863, + 3030 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3030, + 3842 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3842, + 4040 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 4040, + 4331 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4331, + 5646 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5646, + 6333 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6333, + 7066 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7066, + 7905 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7906, + 8119 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8120, + 8745 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 8745, + 9400 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9400, + 10171 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 10171, + 10643 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 10643, + 10770 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10770, + 11352 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 11352, + 11916 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 11919, + 12364 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 12364, + 12852 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2863 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2863, + 4331 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 4331, + 8119 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 8120, + 9400 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 9400, + 12364 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 12364, + 12852 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000177.json b/annotations/episode_00000177.json new file mode 100644 index 0000000000000000000000000000000000000000..8c74a9ecbb099882241dbca9f94524802e0ab565 --- /dev/null +++ b/annotations/episode_00000177.json @@ -0,0 +1,894 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 11012, + "valid_duration": [ + 0, + 11012 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 572 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 573, + 988 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 988, + 1148 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1148, + 1952 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1952, + 2179 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2179, + 2212 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2213, + 3215 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3215, + 3975 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3975, + 5040 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 5040, + 5214 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5214, + 5322 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5322, + 5940 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5940, + 6246 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6246, + 6510 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6510, + 6774 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6774, + 7425 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 7425, + 7998 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7998, + 8808 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 8808, + 9156 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 9156, + 9315 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9315, + 9861 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 9861, + 10311 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 10311, + 10614 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 10614, + 11012 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2212 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2213, + 5214 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5214, + 6774 + ], + "skill_idxes": [ + 10, + 11, + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 6774, + 7998 + ], + "skill_idxes": [ + 15, + 16 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 7998, + 10614 + ], + "skill_idxes": [ + 17, + 18, + 19, + 20, + 21, + 22 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 10614, + 11012 + ], + "skill_idxes": [ + 23 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000189.json b/annotations/episode_00000189.json new file mode 100644 index 0000000000000000000000000000000000000000..bac1933144e05413053db1a2aa2e7e33f9d94fdf --- /dev/null +++ b/annotations/episode_00000189.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 14516, + "valid_duration": [ + 0, + 14516 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 315 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 315, + 718 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 718, + 976 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 976, + 1185 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1185, + 2145 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2145, + 2442 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2442, + 2583 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2583, + 3750 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3750, + 4734 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4734, + 5737 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 5737, + 5982 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5982, + 7120 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7120, + 7872 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7872, + 8478 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8478, + 9648 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 9648, + 9861 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9861, + 10502 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 10502, + 11188 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11188, + 11973 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 11973, + 12315 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 12315, + 12468 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12468, + 13078 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 13078, + 13677 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 13677, + 14018 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 14018, + 14516 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2583 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2583, + 5982 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5982, + 9861 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 9861, + 11188 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 11188, + 14018 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 14018, + 14516 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000198.json b/annotations/episode_00000198.json new file mode 100644 index 0000000000000000000000000000000000000000..764b244729f3a7335171c68a8fdfb693a691ff13 --- /dev/null +++ b/annotations/episode_00000198.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 14163, + "valid_duration": [ + 0, + 14163 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 685 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 686, + 1164 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1164, + 1368 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 1368, + 1552 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1552, + 2428 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2428, + 2818 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2818, + 2924 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2924, + 3762 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3762, + 4653 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4653, + 5498 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 5498, + 5853 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5853, + 6862 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6862, + 7629 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7629, + 8524 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8524, + 9080 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 9080, + 9416 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9416, + 10048 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 10048, + 10697 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10697, + 11405 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 11405, + 11908 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 11908, + 12125 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12125, + 12749 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 12749, + 13346 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 13346, + 13608 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 13608, + 14163 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_74", + "tupperware_73" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_74", + "tupperware_73" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2924 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2924, + 5853 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5853, + 9416 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 9416, + 10697 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_74", + "tupperware_73" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 10697, + 13608 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 13608, + 14163 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000219.json b/annotations/episode_00000219.json new file mode 100644 index 0000000000000000000000000000000000000000..b36b56f569e87f1814e16e807ab8ce82943f1afa --- /dev/null +++ b/annotations/episode_00000219.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 12456, + "valid_duration": [ + 0, + 12456 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 1128 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1128, + 1559 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1559, + 1727 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 1727, + 2101 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2101, + 2943 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2943, + 3419 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 3419, + 3544 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3544, + 4548 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 4549, + 5144 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5144, + 6040 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 6040, + 6409 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6409, + 6507 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6507, + 7050 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7050, + 7441 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7441, + 7591 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7592, + 7840 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7843, + 8566 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 8566, + 9167 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9167, + 9942 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 9942, + 10296 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 10297, + 10431 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10431, + 11010 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 11011, + 11609 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 11609, + 12042 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 12042, + 12456 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_74", + "tupperware_73" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_74", + "tupperware_73" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 3544 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3544, + 6409 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6409, + 7840 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 7843, + 9167 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_74", + "tupperware_73" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 9167, + 12042 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 12042, + 12456 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000223.json b/annotations/episode_00000223.json new file mode 100644 index 0000000000000000000000000000000000000000..98f0ce8d60db18d3cef87c07dd9064c8cbecb085 --- /dev/null +++ b/annotations/episode_00000223.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 10318, + "valid_duration": [ + 0, + 10318 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 451 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 451, + 1009 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1009, + 1200 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 1200, + 1417 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1418, + 2254 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2254, + 2598 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2599, + 2701 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2701, + 2802 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2802, + 3328 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3328, + 3441 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3441, + 3725 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3725, + 4606 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4607, + 4949 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 4949, + 5213 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5213, + 5973 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5973, + 6148 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6148, + 6736 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 6736, + 7212 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7212, + 7941 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 7942, + 8379 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 8379, + 8511 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8511, + 9100 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 9100, + 9442 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 9443, + 9867 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 9867, + 10318 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_74", + "tupperware_73" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_74", + "tupperware_73" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2701 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2701, + 3725 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 3725, + 6148 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 6148, + 7212 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_74", + "tupperware_73" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 7212, + 9867 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 9867, + 10318 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000232.json b/annotations/episode_00000232.json new file mode 100644 index 0000000000000000000000000000000000000000..64178386075866e4f30066d8de84b05112082ebd --- /dev/null +++ b/annotations/episode_00000232.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 12603, + "valid_duration": [ + 0, + 12603 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 710 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 710, + 1279 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1279, + 1302 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1302, + 1533 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1533, + 2305 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2305, + 2493 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2493, + 2547 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2547, + 3543 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3543, + 4244 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4244, + 5283 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 5283, + 5524 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5524, + 6219 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 6219, + 6464 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6464, + 6843 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6843, + 7511 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7511, + 7851 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7851, + 8513 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 8513, + 9268 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9268, + 10025 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 10025, + 10341 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 10341, + 10508 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10508, + 11085 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 11085, + 11714 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 11714, + 12106 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 12106, + 12603 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2547 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2547, + 5524 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5524, + 7851 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 7851, + 9268 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 9268, + 12106 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 12106, + 12603 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000269.json b/annotations/episode_00000269.json new file mode 100644 index 0000000000000000000000000000000000000000..03a3d1f51f401fbb89dcf91d2a2deede6cb43abb --- /dev/null +++ b/annotations/episode_00000269.json @@ -0,0 +1,894 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 11399, + "valid_duration": [ + 0, + 11399 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 1013 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 1013, + 1504 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1505, + 1693 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1693, + 2578 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2578, + 2908 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2908, + 2977 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2977, + 3087 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3087, + 3618 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3618, + 3833 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3833, + 4066 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4066, + 4748 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4748, + 5236 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5236, + 5835 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5835, + 6339 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6340, + 6561 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6561, + 7182 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 7182, + 7980 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7980, + 8766 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 8766, + 9135 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 9138, + 9376 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9377, + 10006 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 10007, + 10496 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 10496, + 10884 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 10884, + 11399 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_74", + "tupperware_73" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_74", + "tupperware_73" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2977 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2977, + 4066 + ], + "skill_idxes": [ + 6, + 7, + 8, + 9 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 4066, + 6561 + ], + "skill_idxes": [ + 10, + 11, + 12, + 13, + 14 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 6561, + 7980 + ], + "skill_idxes": [ + 15, + 16 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 7980, + 10884 + ], + "skill_idxes": [ + 17, + 18, + 19, + 20, + 21, + 22 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 10884, + 11399 + ], + "skill_idxes": [ + 23 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000270.json b/annotations/episode_00000270.json new file mode 100644 index 0000000000000000000000000000000000000000..83a10754e6058c24db44451ae79137544c494683 --- /dev/null +++ b/annotations/episode_00000270.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 11250, + "valid_duration": [ + 0, + 11250 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 232 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 232, + 715 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 715, + 931 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 934, + 1062 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1062, + 2055 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2055, + 2278 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2278, + 2364 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2364, + 2497 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2502, + 3119 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3119, + 3232 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3232, + 3515 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3515, + 4593 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 4593, + 5071 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5072, + 5636 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5637, + 6557 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6558, + 6856 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6856, + 7470 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 7470, + 8156 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8156, + 8847 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 8847, + 9124 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 9124, + 9223 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9223, + 9821 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 9821, + 10425 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 10425, + 10746 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 10746, + 11250 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2364 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2364, + 3515 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 3515, + 6856 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 6856, + 8156 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 8156, + 10746 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 10746, + 11250 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000272.json b/annotations/episode_00000272.json new file mode 100644 index 0000000000000000000000000000000000000000..b70da95fbfad9b7f677715982ddf1b1c0e398d72 --- /dev/null +++ b/annotations/episode_00000272.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 14442, + "valid_duration": [ + 0, + 14442 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 830 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 830, + 1401 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1401, + 1660 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1660, + 1984 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1984, + 2841 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 2841, + 3207 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 3207, + 3262 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3262, + 4044 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 4044, + 4889 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4889, + 5500 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 5500, + 5967 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5967, + 7059 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 7059, + 7957 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7957, + 8339 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8339, + 9354 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 9354, + 9775 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9776, + 10436 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 10436, + 11182 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 11182, + 11956 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 11956, + 12303 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 12303, + 12423 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 12423, + 13027 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 13028, + 13506 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 13506, + 13965 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 13965, + 14442 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 3262 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3262, + 5967 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5967, + 9775 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 9776, + 11182 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 11182, + 13965 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 13965, + 14442 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000275.json b/annotations/episode_00000275.json new file mode 100644 index 0000000000000000000000000000000000000000..f62e708db1abfa67549e2935cf01475b08fa7dc5 --- /dev/null +++ b/annotations/episode_00000275.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 11818, + "valid_duration": [ + 0, + 11818 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 87 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 87, + 433 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 433, + 466 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 466, + 733 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 733, + 1543 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 1543, + 1875 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 1875, + 1938 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 1938, + 3011 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3011, + 3880 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3880, + 4723 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 4723, + 5110 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 5110, + 5359 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5360, + 6133 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6133, + 6945 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6945, + 7128 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 7128, + 7339 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7340, + 7936 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 7937, + 8743 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8743, + 9533 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 9533, + 9919 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 9920, + 10084 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 10084, + 10651 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 10652, + 11067 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 11067, + 11401 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 11401, + 11818 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_74", + "tupperware_73" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_74", + "tupperware_73" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 1938 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 1938, + 5110 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5110, + 7339 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 7340, + 8743 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 8743, + 11401 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 11401, + 11818 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/annotations/episode_00000288.json b/annotations/episode_00000288.json new file mode 100644 index 0000000000000000000000000000000000000000..f320b31fd7ec76fa1bb2dbe5288704f32f2a358d --- /dev/null +++ b/annotations/episode_00000288.json @@ -0,0 +1,919 @@ +{ + "task_name": "clearing food from table into fridge", + "data_folder": "", + "meta_data": { + "task_duration": 11726, + "valid_duration": [ + 0, + 11726 + ] + }, + "skill_annotation": [ + { + "skill_idx": 0, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 0, + 228 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 1, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 228, + 538 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 2, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 538, + 781 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 3, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "bar_egwapq_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 781, + 985 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 4, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 986, + 1880 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 5, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 1881, + 2299 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 6, + "skill_id": [ + 3 + ], + "skill_description": [ + "place on" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 2300, + 2416 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 7, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_chicken_78" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 2417, + 2771 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 8, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2772, + 3600 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 9, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 3601, + 3755 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 10, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 3756, + 4008 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 11, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "half_apple_pie_77" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 4008, + 5040 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 12, + "skill_id": [ + 90 + ], + "skill_description": [ + "push to" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [ + [ + "", + "to_the_edge_of" + ] + ], + "frame_duration": [ + 5040, + 5562 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 13, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 5562, + 6144 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 14, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_74" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 6145, + 6930 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 15, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 6930, + 7129 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 16, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 7130, + 7809 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 17, + "skill_id": [ + 10 + ], + "skill_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 7809, + 8550 + ], + "mp_ef": [], + "skill_type": [ + "coordinated" + ] + }, + { + "skill_idx": 18, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "tupperware_73" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 8550, + 9404 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 19, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_73", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [], + "frame_duration": [ + 9404, + 9764 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 20, + "skill_id": [ + 2 + ], + "skill_description": [ + "pick up from" + ], + "object_id": [ + [ + "tupperware_74", + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [], + "frame_duration": [ + 9764, + 9936 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 21, + "skill_id": [ + 1 + ], + "skill_description": [ + "move to" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [], + "frame_duration": [ + 9937, + 10607 + ], + "mp_ef": [], + "skill_type": [ + "navigation" + ] + }, + { + "skill_idx": 22, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_73", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_73" + ], + "spatial_prefix": [ + [ + "", + "layer_4" + ] + ], + "frame_duration": [ + 10608, + 10980 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 23, + "skill_id": [ + 4 + ], + "skill_description": [ + "place in" + ], + "object_id": [ + [ + "tupperware_74", + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + "tupperware_74" + ], + "spatial_prefix": [ + [ + "", + "layer_5" + ] + ], + "frame_duration": [ + 10980, + 11293 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + }, + { + "skill_idx": 24, + "skill_id": [ + 12 + ], + "skill_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + "right_door" + ] + ], + "frame_duration": [ + 11293, + 11726 + ], + "mp_ef": [], + "skill_type": [ + "uncoordinated" + ] + } + ], + "primitive_annotation": [ + { + "primitive_idx": 0, + "primitive_id": [ + 2, + 3 + ], + "primitive_description": [ + "pick up from", + "place on" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "bar_egwapq_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [], + "frame_duration": [ + 0, + 2416 + ], + "skill_idxes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6 + ] + }, + { + "primitive_idx": 1, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_chicken_78", + "plate_76" + ], + [ + "half_chicken_78", + "tupperware_73" + ] + ], + "manipulating_object_id": [ + "half_chicken_78", + "half_chicken_78" + ], + "spatial_prefix": [], + "frame_duration": [ + 2417, + 4008 + ], + "skill_idxes": [ + 7, + 8, + 9, + 10 + ] + }, + { + "primitive_idx": 2, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + "half_apple_pie_77", + "plate_75" + ], + [ + "half_apple_pie_77", + "tupperware_74" + ] + ], + "manipulating_object_id": [ + "half_apple_pie_77", + "half_apple_pie_77" + ], + "spatial_prefix": [], + "frame_duration": [ + 4008, + 7129 + ], + "skill_idxes": [ + 11, + 12, + 13, + 14, + 15 + ] + }, + { + "primitive_idx": 3, + "primitive_id": [ + 10 + ], + "primitive_description": [ + "open door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 7130, + 8550 + ], + "skill_idxes": [ + 16, + 17 + ] + }, + { + "primitive_idx": 4, + "primitive_id": [ + 2, + 4 + ], + "primitive_description": [ + "pick up from", + "place in" + ], + "object_id": [ + [ + [ + "tupperware_73", + "tupperware_74" + ], + "breakfast_table_xftrki_0" + ], + [ + [ + "tupperware_73", + "tupperware_74" + ], + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [ + [ + "tupperware_73", + "tupperware_74" + ], + [ + "tupperware_73", + "tupperware_74" + ] + ], + "spatial_prefix": [ + [], + [ + [], + [ + "layer_4", + "layer_5" + ] + ] + ], + "frame_duration": [ + 8550, + 11293 + ], + "skill_idxes": [ + 18, + 19, + 20, + 21, + 22, + 23 + ] + }, + { + "primitive_idx": 5, + "primitive_id": [ + 12 + ], + "primitive_description": [ + "close door" + ], + "object_id": [ + [ + "fridge_petcxr_0" + ] + ], + "manipulating_object_id": [], + "spatial_prefix": [ + [ + [ + "right_door" + ] + ] + ], + "frame_duration": [ + 11293, + 11726 + ], + "skill_idxes": [ + 24 + ] + } + ] +} \ No newline at end of file diff --git a/data/chunk-000/file-001.parquet b/data/chunk-000/file-001.parquet new file mode 100644 index 0000000000000000000000000000000000000000..547675103d5c0d05e1b49c69c5215df2b82a4f73 --- /dev/null +++ b/data/chunk-000/file-001.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bb10db1de1776cf7c341e35ec826dda51341d99ee5ef80789c7eb1015aaad7c +size 51436092 diff --git a/data/chunk-000/file-002.parquet b/data/chunk-000/file-002.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f1a95ac55f26b0e0aadacb1246f4ac345482e6fe --- /dev/null +++ b/data/chunk-000/file-002.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33a1f7d9c6979a0170e042f09a57c617c5a1f85677d3f38871ab8c0b6c827fd0 +size 43860318 diff --git a/data/chunk-000/file-005.parquet b/data/chunk-000/file-005.parquet new file mode 100644 index 0000000000000000000000000000000000000000..904134dac0cc90f141741be97fd3e8d261bfaac7 --- /dev/null +++ b/data/chunk-000/file-005.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cca1eaac2a2a7e9c90a3744e55ea99822f252bda58b1e6df0e731c04d4a54a40 +size 31198352 diff --git a/data/chunk-000/file-006.parquet b/data/chunk-000/file-006.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1fd566562c873a863a6fda56f69ca0a3349b2415 --- /dev/null +++ b/data/chunk-000/file-006.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:625cea915778ad9db8dce32576e014604057db4579a2dde077839f8daa797aea +size 30338208 diff --git a/data/chunk-000/file-007.parquet b/data/chunk-000/file-007.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ded1f346ec4e79b3c6a124a9c73f7d7153d396aa --- /dev/null +++ b/data/chunk-000/file-007.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88bef62bd9e33e4ca9ad55857dfa42286358933949efe3623a53954f00995f36 +size 28180877 diff --git a/data/chunk-000/file-008.parquet b/data/chunk-000/file-008.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e26833d2e0e6d511cfea62a002837259f81cbed2 --- /dev/null +++ b/data/chunk-000/file-008.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09994491d04773dfc5b195acbed36deab18f59799d317a8d18f52d1b8e296918 +size 28995511 diff --git a/data/chunk-000/file-009.parquet b/data/chunk-000/file-009.parquet new file mode 100644 index 0000000000000000000000000000000000000000..482290e9c65bb730eedd69be75975503ff6f642e --- /dev/null +++ b/data/chunk-000/file-009.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa61f543c52d33b47028b3cfb25ff9241d6a4eb8ce8c271759968f26fec62db0 +size 28994857 diff --git a/data/chunk-000/file-010.parquet b/data/chunk-000/file-010.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7559b047c7b7cb2bba393b811aea5551f6c18adf --- /dev/null +++ b/data/chunk-000/file-010.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62289508ad4b6f6b4f555dfb06428674636d93652af08eaf8907c6679d8220be +size 28728547 diff --git a/data/chunk-000/file-012.parquet b/data/chunk-000/file-012.parquet new file mode 100644 index 0000000000000000000000000000000000000000..bd89f913a6dd87aa1204776c65f4b5a18e69165e --- /dev/null +++ b/data/chunk-000/file-012.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8196d2a9dda92ddb27107578fe52e371259d0f69b6517c74eceb51fa7baf05b9 +size 28809995 diff --git a/data/chunk-000/file-013.parquet b/data/chunk-000/file-013.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ce44894d1bac736330f281ac5f072f9f7094061d --- /dev/null +++ b/data/chunk-000/file-013.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28fe02b3fa96b786502044f05d62604edf9fca712155dabd5900c564a151db5d +size 31124168 diff --git a/data/chunk-000/file-014.parquet b/data/chunk-000/file-014.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8776aa52d09fb0a929cf3e53c834a5ad5f89368e --- /dev/null +++ b/data/chunk-000/file-014.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:029d68bbcd513fbba94fee29e0b291d54e0425ee8ba75acac1564681dacd245a +size 26458734 diff --git a/data/chunk-000/file-015.parquet b/data/chunk-000/file-015.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2b0fb33c37e9fa8e39f547037228307d89debdb2 --- /dev/null +++ b/data/chunk-000/file-015.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f215bd804395adbd5a03d06b00a35da2a6ca4617735e43756b49fd4b7241760 +size 30106440 diff --git a/data/chunk-000/file-017.parquet b/data/chunk-000/file-017.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6400c457ec1193973dbecea8b12b1bd913d16648 --- /dev/null +++ b/data/chunk-000/file-017.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3c09fa2a0a8161b01d350916d5865e242872626bac746ee1acebfce1d7bf9a2 +size 52045210 diff --git a/data/chunk-000/file-018.parquet b/data/chunk-000/file-018.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1aa03e9711ef3b148206ddc08a9d4fe18c677d39 --- /dev/null +++ b/data/chunk-000/file-018.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbcdc145cf58c95da02d9dd23ad46105fcbdba3b35426ff22b2557e6c5fb9948 +size 43111835 diff --git a/data/chunk-000/file-019.parquet b/data/chunk-000/file-019.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b0c874b26b9bd3f5fe11ad0cb4b595be56dfb915 --- /dev/null +++ b/data/chunk-000/file-019.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c087864d6737d6f662f9c1d4a25ea5898e1fa27878ad884d8e0fbe30b2f0244 +size 48339827 diff --git a/data/chunk-000/file-020.parquet b/data/chunk-000/file-020.parquet new file mode 100644 index 0000000000000000000000000000000000000000..48c5b5d79f85b2f858a8cffcdb345821c77a1eba --- /dev/null +++ b/data/chunk-000/file-020.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:133c8c57557e49df4383ef22a4b44b57307972031c2bf48651a517a66e046aeb +size 41361082 diff --git a/data/chunk-000/file-021.parquet b/data/chunk-000/file-021.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3f94aa367f54f905e119ff3183d2746ecc9d6a3e --- /dev/null +++ b/data/chunk-000/file-021.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20f301832de49cae5a02c7c0a8824ac4147a85150374082a074228500f817b25 +size 44118200 diff --git a/data/chunk-000/file-022.parquet b/data/chunk-000/file-022.parquet new file mode 100644 index 0000000000000000000000000000000000000000..adb5829077bf0a6746b89a85e69c3cbdd2d8d5df --- /dev/null +++ b/data/chunk-000/file-022.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07b47e40b77660d0c0797c6fd4ba4a6dcb9c59aedd47df34ba1477aed9ac7ffa +size 39374821 diff --git a/data/chunk-000/file-023.parquet b/data/chunk-000/file-023.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7f87086279ea54086be365e31ebe769563e80411 --- /dev/null +++ b/data/chunk-000/file-023.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41da19e4e760cd5a0e38c9903f46a45950bf385d957d616831db76f038daa2bc +size 38276903 diff --git a/data/chunk-000/file-024.parquet b/data/chunk-000/file-024.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a58d5e50b55b664d9b9686a2284a6a9fb9a4fcf7 --- /dev/null +++ b/data/chunk-000/file-024.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:438fd55dd62a8e614b1dd9d5a1e001094cb9ea8e35a8727ddc346d76b3616c56 +size 54865312 diff --git a/data/chunk-000/file-026.parquet b/data/chunk-000/file-026.parquet new file mode 100644 index 0000000000000000000000000000000000000000..71ef0c2ff1571819056d5c96f668689be8163b84 --- /dev/null +++ b/data/chunk-000/file-026.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6763778b3484675a4763a050a0dbea077984717a7d34f2ea9de33f7fb08859be +size 39228121 diff --git a/data/chunk-000/file-027.parquet b/data/chunk-000/file-027.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9a56f7d6940843b1ad17a1ad3cc529848900976b --- /dev/null +++ b/data/chunk-000/file-027.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce85dfa7245e36a4d0de40715ba9316baae8e8f58ccb06cf6f7b913fcc3f6241 +size 36951067 diff --git a/data/chunk-000/file-029.parquet b/data/chunk-000/file-029.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5700a11b0b471e8c5bb404e40122d22ce1625f05 --- /dev/null +++ b/data/chunk-000/file-029.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4d68b379042a44c357fca1d6d036b0cb0e28f8ce1aa09b2fe775e030631cdba +size 52750110 diff --git a/data/chunk-000/file-030.parquet b/data/chunk-000/file-030.parquet new file mode 100644 index 0000000000000000000000000000000000000000..75460cd8c658a4e4f1765a58f36381ff7cf70ccc --- /dev/null +++ b/data/chunk-000/file-030.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:317b3cfc0f319a068141a11b90f4ea730c4b38c50cef6d2f4bbb72d3ce66e38c +size 40654269 diff --git a/data/chunk-000/file-031.parquet b/data/chunk-000/file-031.parquet new file mode 100644 index 0000000000000000000000000000000000000000..88845d2e5b6203a39d6f3389d2f519ec0b934e7d --- /dev/null +++ b/data/chunk-000/file-031.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7e4e09c9cc71fbbf35c0b85b854eecb3d70c50d40bb78d6caf776869135e2f3 +size 38633786 diff --git a/data/chunk-000/file-032.parquet b/data/chunk-000/file-032.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6f5b86cda9f4b8395b52d7569ba877eb36ab8ae5 --- /dev/null +++ b/data/chunk-000/file-032.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbed27a726f8e33496a626e09b30749600c7e4dd25cebdfb6a6d6267cce24931 +size 39691454 diff --git a/data/chunk-000/file-034.parquet b/data/chunk-000/file-034.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c836b30476c41d0c386f8590421e04fffe89e53a --- /dev/null +++ b/data/chunk-000/file-034.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dd6cdde431dc591ff6dbf366e7288ad7c06ba00334b7ea169564d0c09561cd6 +size 52027176 diff --git a/data/chunk-000/file-035.parquet b/data/chunk-000/file-035.parquet new file mode 100644 index 0000000000000000000000000000000000000000..de6ec99c7c24f3cc1a9e9b557bb3e383f4f0b152 --- /dev/null +++ b/data/chunk-000/file-035.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d906b7d1679af4b4ea4447fa8a27400b1d7bdc6e216c9348466cdbb59ae44226 +size 50609178 diff --git a/data/chunk-000/file-036.parquet b/data/chunk-000/file-036.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b5a92c8cc6dffd68eac2faea86ccd37e65df3562 --- /dev/null +++ b/data/chunk-000/file-036.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:860a15a75de32770d26186e0981c09fbd127ddb74fcebb0f6b58ee4c504dfbec +size 50580907 diff --git a/data/chunk-000/file-037.parquet b/data/chunk-000/file-037.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5e37444496996ee489015a5f6fb01882e2e03dc4 --- /dev/null +++ b/data/chunk-000/file-037.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:514ad449d6b4ad0b7b5cea83e168224c07bd8d7b7b1102954f1cff540ffd4e91 +size 50738122 diff --git a/data/chunk-000/file-038.parquet b/data/chunk-000/file-038.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7e04830bd9bc3d8c61031d85fcdcba78085bcc9d --- /dev/null +++ b/data/chunk-000/file-038.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb0f16d61e797932982671b2e277b1278cdc2b4e739d7354a291e16a36a5d99d +size 49141458 diff --git a/data/chunk-000/file-039.parquet b/data/chunk-000/file-039.parquet new file mode 100644 index 0000000000000000000000000000000000000000..405aa5434ffce8f3f6ed638c8e2d76cc5ee44d90 --- /dev/null +++ b/data/chunk-000/file-039.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39f210d8b0cadb5930584e64249b6b9df1bd504d9b3e878e6b7e64ad224952bb +size 52142104 diff --git a/data/chunk-000/file-042.parquet b/data/chunk-000/file-042.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b112a2c9ca8423434902a921445324352c6736f5 --- /dev/null +++ b/data/chunk-000/file-042.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3bc4de7bbb5fe729c204b1b547b17c2def80cd273f11f170125cbd4cfc48196 +size 52962598 diff --git a/data/chunk-000/file-043.parquet b/data/chunk-000/file-043.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8098fe840e77d76b85aeb783617e7e669e85ff18 --- /dev/null +++ b/data/chunk-000/file-043.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e4be73fe61d5caf150a1d349f1844d878c721dfc36cf0bf915a5e004985ec11 +size 54881394 diff --git a/data/chunk-000/file-044.parquet b/data/chunk-000/file-044.parquet new file mode 100644 index 0000000000000000000000000000000000000000..98a9bf55948c32153995c5f80aeb6f46aab4b3a3 --- /dev/null +++ b/data/chunk-000/file-044.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f7d428bebf5d3f5f5b87bb6dd28571d1e403a526d5cd7acec1216238b3fa157 +size 54838853 diff --git a/data/chunk-000/file-045.parquet b/data/chunk-000/file-045.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6498ef12282791f76597501811b68e331c245907 --- /dev/null +++ b/data/chunk-000/file-045.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39a96d08c514dfbd8a65ec7baca1a741b968371ebe7d4963eeef912a19a97363 +size 48716942 diff --git a/data/chunk-000/file-046.parquet b/data/chunk-000/file-046.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9ee05136978d3661de352e11e13d0cf10146bebe --- /dev/null +++ b/data/chunk-000/file-046.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1c7758df1a862a55129e3d55f8b89b59b38535d20c666ca04b5005105fcdb3e +size 49930935 diff --git a/data/chunk-000/file-047.parquet b/data/chunk-000/file-047.parquet new file mode 100644 index 0000000000000000000000000000000000000000..77040f0110e4eae8fad27890b9a865218c96a4f9 --- /dev/null +++ b/data/chunk-000/file-047.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9d7b2761f776455d2fc39675744c035b4547c71e3a7145856ac181e0013572b +size 50874569 diff --git a/data/chunk-000/file-048.parquet b/data/chunk-000/file-048.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a2752d07a0a1d9e5733a50fd21691066802a564c --- /dev/null +++ b/data/chunk-000/file-048.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ca82319f4f8d1a589dfcbb623f4ef7b74a8d545b55ecdbd802b12602e2d7016 +size 48565327 diff --git a/data/chunk-000/file-049.parquet b/data/chunk-000/file-049.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ebdf8494d16120f32b30fbb87a98e3ea47399b01 --- /dev/null +++ b/data/chunk-000/file-049.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1040967cb828e30c3a5444c555062841c42b20ffe79604edf56506274f17493 +size 49785960 diff --git a/data/chunk-000/file-050.parquet b/data/chunk-000/file-050.parquet new file mode 100644 index 0000000000000000000000000000000000000000..88b821343b72f29d0b1548a5b6811de52fbee4cd --- /dev/null +++ b/data/chunk-000/file-050.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dabdcfde09b79083d79ec0eb56a9dd1ecd8fcf9d7a0a8dec5b4be5b76f6fafc8 +size 52107825 diff --git a/data/chunk-000/file-051.parquet b/data/chunk-000/file-051.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6d22dc9e9e96fb350c46894682bf013385fce54a --- /dev/null +++ b/data/chunk-000/file-051.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c0311036716a9d748fac6d434e4ee1c9de669d1e0260e309a13d07f3e305c0b +size 41187816 diff --git a/data/chunk-000/file-052.parquet b/data/chunk-000/file-052.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e38be758e7c41d8ed18e173215e8cc063b954c65 --- /dev/null +++ b/data/chunk-000/file-052.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:402bf0beced7663f3ab6ca4775a11ecb271061ddf715e7b394a36aa31eafc7eb +size 56717431 diff --git a/data/chunk-000/file-053.parquet b/data/chunk-000/file-053.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c011ef0c7581978f0b3670fbd028694bbe754449 --- /dev/null +++ b/data/chunk-000/file-053.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c09801dda58999ea1a9b19bda14edd4691f7dababaade19f60812225d4eb09fe +size 56091414 diff --git a/data/chunk-000/file-054.parquet b/data/chunk-000/file-054.parquet new file mode 100644 index 0000000000000000000000000000000000000000..15428863e418decc105356fb0ad3a97ded4ab885 --- /dev/null +++ b/data/chunk-000/file-054.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edb3c8c7733c2f123cb3a1ada9bf255c6db10d7f80c50d27064bdb2ffa2eab8a +size 41070768 diff --git a/data/chunk-000/file-055.parquet b/data/chunk-000/file-055.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f1772b56391b75d409d73d0a474b1ff36ae17602 --- /dev/null +++ b/data/chunk-000/file-055.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a01a6a5c600ce37c0f47a477b8a999adab8d06110c1d1fafd48181ec5fffad7 +size 54570694 diff --git a/data/chunk-000/file-056.parquet b/data/chunk-000/file-056.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8dcb2bf269fc6eee0ffaf9d8333dae429d9e0644 --- /dev/null +++ b/data/chunk-000/file-056.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c2d4e48fd671c0d1b14870d3f0f1d2fcf91c21e29104e9271cdb433c573741c +size 40362234 diff --git a/data/chunk-000/file-057.parquet b/data/chunk-000/file-057.parquet new file mode 100644 index 0000000000000000000000000000000000000000..92af8790627a0a2bda54a858f4c0f528706f84de --- /dev/null +++ b/data/chunk-000/file-057.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ece2e7bb5b89c62c1226eeae3a0f70541a74c288369de21ef5ddc2f80ff51f8c +size 42003007 diff --git a/data/chunk-000/file-058.parquet b/data/chunk-000/file-058.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5a5e9908831d51823e4d47d9999030d0aa6c077a --- /dev/null +++ b/data/chunk-000/file-058.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b25c2ffa91b8c9faa7fa83e8e6c9ae8897e1e10c0d6126d389fef1453d381a8b +size 40714681 diff --git a/data/chunk-000/file-059.parquet b/data/chunk-000/file-059.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b7d5a659f8ed4720723157f53d19cad79148d326 --- /dev/null +++ b/data/chunk-000/file-059.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33cb817fab0748476b071cc144c95ceef38718b281da6cc76045e7d6a6c0077f +size 52435877 diff --git a/data/chunk-000/file-060.parquet b/data/chunk-000/file-060.parquet new file mode 100644 index 0000000000000000000000000000000000000000..65849ab228e0c921b03db95ab13d3ee76077ad96 --- /dev/null +++ b/data/chunk-000/file-060.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20afe0b97f2b2cf8567b02252819c50bf80940fbf85071eb2c578cc0f43bf934 +size 50479417 diff --git a/data/chunk-000/file-061.parquet b/data/chunk-000/file-061.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d9b605b4ee17a71e91f317a84ce203216afb6b75 --- /dev/null +++ b/data/chunk-000/file-061.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6d682d3ada2a7f1037467ca8d75a9a5f63e6d98e729adb1410aca0598987e11 +size 39952426 diff --git a/data/chunk-000/file-062.parquet b/data/chunk-000/file-062.parquet new file mode 100644 index 0000000000000000000000000000000000000000..850d6f0f8ab45a17ff6a78dc949a28edf0def351 --- /dev/null +++ b/data/chunk-000/file-062.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c7ce25e775f9c445a304ba95d6924899978e513bcfa6066db82b92b152d7a39 +size 53187503 diff --git a/data/chunk-000/file-063.parquet b/data/chunk-000/file-063.parquet new file mode 100644 index 0000000000000000000000000000000000000000..83a2ba8ecf8a58d3455f09a6c82645ea8c917c1f --- /dev/null +++ b/data/chunk-000/file-063.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30463b7dfc8fd05eff20da8a224c59fb8faed4273f4dd9e11c3968b1c2c4243c +size 36967916 diff --git a/data/chunk-000/file-064.parquet b/data/chunk-000/file-064.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2f70bcbca478657c8772bd6af48241c55854a038 --- /dev/null +++ b/data/chunk-000/file-064.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bce7b675d5541b51dbff4d32b0fcee6721cfa7fc054ae9e9e4f8bf99f43449d +size 53358753 diff --git a/data/chunk-000/file-065.parquet b/data/chunk-000/file-065.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1362045f14dcedfff14dd5136167d645020af4a8 --- /dev/null +++ b/data/chunk-000/file-065.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd3c770902d1fd73f701947062e72a28219c9332b38b0d2aa265f5ff1a9dbf53 +size 52549060 diff --git a/data/chunk-000/file-067.parquet b/data/chunk-000/file-067.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7153db5eb2c4f6e233bdad0c4eafcf48a90d76c4 --- /dev/null +++ b/data/chunk-000/file-067.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5700a0954e6e48b857d2f850d25f7cd13cc1012559e75716a5b8d4d30437568a +size 52132014 diff --git a/data/chunk-000/file-068.parquet b/data/chunk-000/file-068.parquet new file mode 100644 index 0000000000000000000000000000000000000000..744f7eb2080acf40d68be82274b95cb80ff430db --- /dev/null +++ b/data/chunk-000/file-068.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64029321eb197698cecef1dd367988e1c543ea601554247e3fbcd1a65f8a0054 +size 53339925 diff --git a/data/chunk-000/file-069.parquet b/data/chunk-000/file-069.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e19e2df33a174fbfc5653244eb0e42f35ac21527 --- /dev/null +++ b/data/chunk-000/file-069.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67c57f55be9aa6ed6c9e12685848be52953b50fe32aceed6a233112cf1278b6c +size 51031862 diff --git a/data/chunk-000/file-070.parquet b/data/chunk-000/file-070.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ecbff00d4d2da2b93f69fd0f6e8d95aec0be6675 --- /dev/null +++ b/data/chunk-000/file-070.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:578fcfa7c65630515a06bc2c632602e59b7f884c54380ab219f7aba2e75bc4d4 +size 52298700 diff --git a/data/chunk-000/file-071.parquet b/data/chunk-000/file-071.parquet new file mode 100644 index 0000000000000000000000000000000000000000..234b84ce75fb57bd9b8249f90d8c6fff73606e55 --- /dev/null +++ b/data/chunk-000/file-071.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cd134d5b5bbbe1961c6a6d348850c5b1d6a1e84500d0a4db4e3b1fef8ee9f15 +size 48218688 diff --git a/data/chunk-000/file-072.parquet b/data/chunk-000/file-072.parquet new file mode 100644 index 0000000000000000000000000000000000000000..652b443142687111aaca6de3e7cb983e2361071b --- /dev/null +++ b/data/chunk-000/file-072.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb0e318b02eaf3b0274fb063732531436e3082c9841db0da178668408a3a7792 +size 54849979 diff --git a/data/chunk-000/file-073.parquet b/data/chunk-000/file-073.parquet new file mode 100644 index 0000000000000000000000000000000000000000..740e5455888261cdc68e3b46a900cb8272428fdf --- /dev/null +++ b/data/chunk-000/file-073.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0f35a0e14f02923e9b4c064ebc3a2b922ab4d8fee29a22a003a49f891ee9d72 +size 53400052 diff --git a/data/chunk-000/file-074.parquet b/data/chunk-000/file-074.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5b6305022ed3eee96ec3a31a4d9693b83e4e7db1 --- /dev/null +++ b/data/chunk-000/file-074.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4678e33925bde7b5c95e4887ae79d9a564695e72f33c63a0b354ec4ef5507c69 +size 51878513 diff --git a/data/chunk-000/file-075.parquet b/data/chunk-000/file-075.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9d6b3726a0d965785279c082c22b25897bd77774 --- /dev/null +++ b/data/chunk-000/file-075.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d024dc3f307697f78f91cb23ba9ad32f0671fc1712548527f36da8d6a06a442b +size 50515585 diff --git a/data/chunk-000/file-076.parquet b/data/chunk-000/file-076.parquet new file mode 100644 index 0000000000000000000000000000000000000000..638689e99bc18b15f7d97d1fcd5b08a8adab3114 --- /dev/null +++ b/data/chunk-000/file-076.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:818df7d474e022471f676806565c0c5caf0fc12bf150acf2d11bec561d3f4f66 +size 51277983 diff --git a/data/chunk-000/file-077.parquet b/data/chunk-000/file-077.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2822ae2202bf95af5b4562b871efeb164a8a836f --- /dev/null +++ b/data/chunk-000/file-077.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2dd7de4faa07d25b850da5f2da224ecdb0f04e8bff47778fd75dd1ad8c7f1a9c +size 50022600 diff --git a/data/chunk-000/file-078.parquet b/data/chunk-000/file-078.parquet new file mode 100644 index 0000000000000000000000000000000000000000..decb8096907756ccbb3da2ae86dd23853b843cb7 --- /dev/null +++ b/data/chunk-000/file-078.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a6aeebf3010e895295ad17ff7090113427aeffb166d497a82f00ae2fbeb3209 +size 19176444 diff --git a/meta/episodes/chunk-000/file-000.parquet b/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5c3633d71f340eb74177db9431f3d02ac9709a06 --- /dev/null +++ b/meta/episodes/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11fd37fbb611641ad1021e33800f88089858c66c42f576a3d8d185d6755e6d67 +size 2321249 diff --git a/meta/tasks.parquet b/meta/tasks.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9b35b41dddee1bdd8c8c0ba7e7cfa7e40cf92d90 --- /dev/null +++ b/meta/tasks.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2dd31456165feea77a1e93e0778b952c29782fb14bbfcd2beb32918d4822b6f5 +size 3375 diff --git a/videos/observation.images.depth.head/chunk-000/file-001.mp4 b/videos/observation.images.depth.head/chunk-000/file-001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..859662cc9e22706d113cfdd2b490090d684dcb33 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01f664b2bb02effeeb21683efca2ddd18f6347ef1474a260b010900b199a0079 +size 506322117 diff --git a/videos/observation.images.depth.head/chunk-000/file-005.mp4 b/videos/observation.images.depth.head/chunk-000/file-005.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0ef36cc8924d9f0bf41da52253948bc4e88607cf --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-005.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a55c6df7c6ca33cecc0c5dfecf9793559550882cf4241a4b9565f338e9bc2c8c +size 407103979 diff --git a/videos/observation.images.depth.head/chunk-000/file-006.mp4 b/videos/observation.images.depth.head/chunk-000/file-006.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4c9eb60e4aefdcf3d507eda5fc31bf450b28cbd1 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-006.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0365ee4f4775cefe370ed81696348ea4b64a7f0743682825293619bb91aad26a +size 453069718 diff --git a/videos/observation.images.depth.head/chunk-000/file-008.mp4 b/videos/observation.images.depth.head/chunk-000/file-008.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6a36ceb72204438d535867a77582c5e5ae3861c4 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-008.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b517f30af25fc8607cc0285693174b144f52518486cbeff6023f0019ea732153 +size 510537765 diff --git a/videos/observation.images.depth.head/chunk-000/file-010.mp4 b/videos/observation.images.depth.head/chunk-000/file-010.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0dde892dde776a801cad5f5d32f097835f15ed2b --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-010.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1294e2daa7f981ae2a1f97024c8c30e7846ebb8092a1bff218bdfa60fc5c2693 +size 471409415 diff --git a/videos/observation.images.depth.head/chunk-000/file-015.mp4 b/videos/observation.images.depth.head/chunk-000/file-015.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..92c9c8d31e758714f61da607fbd95b44f0907f41 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-015.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9797818ad241c3d82b1ee211e6fb7586cea30a3434c105f74161018182dadabd +size 408445556 diff --git a/videos/observation.images.depth.head/chunk-000/file-018.mp4 b/videos/observation.images.depth.head/chunk-000/file-018.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b956664027944385664be15d9fa26e624705ebe4 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-018.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5816f18d9f58e3d543c100e77638005cfd9bfc0b3f587f10bdafdc6857facd9 +size 472654069 diff --git a/videos/observation.images.depth.head/chunk-000/file-019.mp4 b/videos/observation.images.depth.head/chunk-000/file-019.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..df1a2c39575e6017854a34c0b3dbbe7493ac3cb5 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-019.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b09d306e73cd6de592b03fd2deb8198c4152b34d5388283950fbc14ffa5a214 +size 461728134 diff --git a/videos/observation.images.depth.head/chunk-000/file-021.mp4 b/videos/observation.images.depth.head/chunk-000/file-021.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..50a12904a28723c8c4741e50f0a829e9e7841792 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-021.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3caf2b0b0448fb455f5ae2150c7dbb930e8e37fca7029cc4697e560f1575f062 +size 522346053 diff --git a/videos/observation.images.depth.head/chunk-000/file-022.mp4 b/videos/observation.images.depth.head/chunk-000/file-022.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..640fba1bc09d0da0e8f6eddae5bfbec004537dd1 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-022.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73971ad003ca529043dec74f58f5de45444f18cc0e686ce5c3b251589c508338 +size 477177763 diff --git a/videos/observation.images.depth.head/chunk-000/file-023.mp4 b/videos/observation.images.depth.head/chunk-000/file-023.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e49814334550aaa701d031f708287450a2fba99f --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-023.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60669c428ce19c012f864db834755b998a1cb2375f7cf4ca595a2e83766db037 +size 473744071 diff --git a/videos/observation.images.depth.head/chunk-000/file-024.mp4 b/videos/observation.images.depth.head/chunk-000/file-024.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..328d8d07b5ad00309092335c6c6d636995ffa5bd --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-024.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dff7b021c23f728e7b943a1abc2eb9d97dcf615b116ae321610a96f35afe1e0f +size 447687371 diff --git a/videos/observation.images.depth.head/chunk-000/file-025.mp4 b/videos/observation.images.depth.head/chunk-000/file-025.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e0f065c877c05a020baca03213fb40710963ede1 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-025.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e2435bd1e6fb5e48d86c46a26af0504c0abe449d51350a9cba22c46222f8aa4 +size 465566802 diff --git a/videos/observation.images.depth.head/chunk-000/file-026.mp4 b/videos/observation.images.depth.head/chunk-000/file-026.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7ea9b28a73f63fb0998598d7ce57a934edc0c239 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-026.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0fdbe930224c8f87e41b276dbe1e886dfb7a279fb7161ad5c16fec198a45ca2e +size 478744936 diff --git a/videos/observation.images.depth.head/chunk-000/file-027.mp4 b/videos/observation.images.depth.head/chunk-000/file-027.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..74b78d139471e807d9beed2b6236029275c8aad2 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-027.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b87e234b9543e2f03caa2997c2c950ebf8b14be9954cb7ad9099433f2f525978 +size 415866476 diff --git a/videos/observation.images.depth.head/chunk-000/file-028.mp4 b/videos/observation.images.depth.head/chunk-000/file-028.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f0a3a8ac3c61dbaa4acaad3ff581a8ca39820892 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-028.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd1dc9e9e3f792296ab1c779a3cb45b1536530ea5ba6c82848db805e5121440f +size 507091659 diff --git a/videos/observation.images.depth.head/chunk-000/file-030.mp4 b/videos/observation.images.depth.head/chunk-000/file-030.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ad3acf07803744b7f73050dc85d40637a5ef74a1 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-030.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:334164abdfadbd888473b9479f0d7872f2616bc6e0b24b8f400234796ef3ecad +size 434158896 diff --git a/videos/observation.images.depth.head/chunk-000/file-033.mp4 b/videos/observation.images.depth.head/chunk-000/file-033.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9a8bfc9ae8d37f8c4a401e2fa4bee9192f8f68d1 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-033.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd601b9aa81522a8398203174b2d1bb7274bde442582cd7b47093add988e2131 +size 469795794 diff --git a/videos/observation.images.depth.head/chunk-000/file-034.mp4 b/videos/observation.images.depth.head/chunk-000/file-034.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5da27e9fe63e06c1ebfd83b5aae46dd8474bf797 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-034.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b33ee50188d72a41c7ddf275a0f7e5431ec160f1a8a1e064cc7e0ae4bd84501 +size 485858765 diff --git a/videos/observation.images.depth.head/chunk-000/file-035.mp4 b/videos/observation.images.depth.head/chunk-000/file-035.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..67c122f5eddc781ab0a3baf768b9f72e6b07c32a --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-035.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e20f4d79f761f6d3e09bb743afe33412785ddfac6141d2d70205a579dc2a830f +size 478531066 diff --git a/videos/observation.images.depth.head/chunk-000/file-037.mp4 b/videos/observation.images.depth.head/chunk-000/file-037.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8245a4812555e5ea08576033a60ff4c28405ad75 --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-037.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10f5d39ac4ce006c2e2cb3187380ce09037c8a37cc1936f2c86fbd3db7c30e90 +size 464571959 diff --git a/videos/observation.images.depth.head/chunk-000/file-038.mp4 b/videos/observation.images.depth.head/chunk-000/file-038.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4e871ccbbc9cbc6c09a30082d2ecdaa46735abdc --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-038.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b31d3afa2f519e391cad9be55453c0c8e8dc7509e7a8e68376754b4c3e851123 +size 469386150 diff --git a/videos/observation.images.depth.head/chunk-000/file-040.mp4 b/videos/observation.images.depth.head/chunk-000/file-040.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..093ac3b8935f6e550d7fbeb7d46f15055565a7df --- /dev/null +++ b/videos/observation.images.depth.head/chunk-000/file-040.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ac5425debbc563d6507b193f6930ed03438358530db3af51c37cd9282a4ef6d +size 458054546 diff --git a/videos/observation.images.depth.right_wrist/chunk-000/file-000.mp4 b/videos/observation.images.depth.right_wrist/chunk-000/file-000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..891197b98159e9a23bc728d91f17d649d7901fa0 --- /dev/null +++ b/videos/observation.images.depth.right_wrist/chunk-000/file-000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fad8b0f165b15ce7e94fccbb9cda2a515485324092df5ca4e3f6897f8a6bc368 +size 488841792 diff --git a/videos/observation.images.depth.right_wrist/chunk-000/file-005.mp4 b/videos/observation.images.depth.right_wrist/chunk-000/file-005.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..20a5f45292c573829de831eff037937bbb1f38d4 --- /dev/null +++ b/videos/observation.images.depth.right_wrist/chunk-000/file-005.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c13e4e56d3dc5f617ca50b3dc9ffd3ffa3c16e1edac13b866f823247f6b6059f +size 501329310 diff --git a/videos/observation.images.rgb.head/chunk-000/file-001.mp4 b/videos/observation.images.rgb.head/chunk-000/file-001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b1ff45ce65f618f67dd87a6cdc84c2d0589d6fd6 --- /dev/null +++ b/videos/observation.images.rgb.head/chunk-000/file-001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47b65b2c31c05b3bb7fe50a4f764b4c052c313739a367aede2ccff5ad4591d82 +size 504801948 diff --git a/videos/observation.images.rgb.head/chunk-000/file-003.mp4 b/videos/observation.images.rgb.head/chunk-000/file-003.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6287c996293e443735352989ab74b41b604054b8 --- /dev/null +++ b/videos/observation.images.rgb.head/chunk-000/file-003.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03fdc8f61713d58edefcede589803e6ed353c75f4301b2d883bb562b59646941 +size 511561720 diff --git a/videos/observation.images.seg_instance_id.right_wrist/chunk-000/file-000.mp4 b/videos/observation.images.seg_instance_id.right_wrist/chunk-000/file-000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dde96b4af4422f95c8ada746c6e90b6b899d2bfd --- /dev/null +++ b/videos/observation.images.seg_instance_id.right_wrist/chunk-000/file-000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83b574458fef24e0102a3fece6b7a3f959489cae9282d856f891159cccc2b48a +size 520230537