| { |
| "task_name": "clean a patio", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 13473, |
| "valid_duration": [ |
| 15, |
| 13488 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15, |
| 665 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 665, |
| 1263 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 94 |
| ], |
| "skill_description": [ |
| "hold" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1527, |
| 1884 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1884, |
| 1995 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1995, |
| 2055 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2055, |
| 2454 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2454, |
| 2505 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2505, |
| 2868 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2868, |
| 2907 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2907, |
| 2994 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2994, |
| 3015 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3015, |
| 3030 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3030, |
| 3060 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3060, |
| 3467 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3467, |
| 3536 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3536, |
| 3875 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3875, |
| 3965 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3965, |
| 4213 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4213, |
| 4273 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4273, |
| 4803 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4803, |
| 4892 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4892, |
| 5612 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5612, |
| 5642 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5642, |
| 5807 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5807, |
| 5970 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_2" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 5970, |
| 6084 |
| ], |
| [ |
| 6312, |
| 6351 |
| ] |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 8 |
| ], |
| "skill_description": [ |
| "release" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6084, |
| 6312 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_2", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "garden_chair_cottya_2" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "away" |
| ] |
| ], |
| "frame_duration": [ |
| 6351, |
| 6963 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6963, |
| 7080 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_1", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "garden_chair_cottya_1" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "away" |
| ] |
| ], |
| "frame_duration": [ |
| 7080, |
| 7924 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7924, |
| 8070 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_0", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "garden_chair_cottya_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "away" |
| ] |
| ], |
| "frame_duration": [ |
| 8070, |
| 8466 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 8466, |
| 8619 |
| ], |
| [ |
| 9228, |
| 9369 |
| ] |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [ |
| 94 |
| ], |
| "skill_description": [ |
| "hold" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8619, |
| 9228 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9369, |
| 9588 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9588, |
| 9741 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 36, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9741, |
| 9837 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9837, |
| 9978 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 38, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9978, |
| 10041 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10041, |
| 10110 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 40, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10110, |
| 10188 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 41, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10188, |
| 10230 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 42, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10230, |
| 10320 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 43, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10320, |
| 11220 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 44, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11220, |
| 11370 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 45, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11370, |
| 11550 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 46, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11550, |
| 11691 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 47, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11691, |
| 12231 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 48, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12231, |
| 12330 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 49, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12330, |
| 12579 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 50, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12579, |
| 12744 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 51, |
| "skill_id": [ |
| 8 |
| ], |
| "skill_description": [ |
| "release" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12744, |
| 12840 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 52, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12840, |
| 13488 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 2 |
| ], |
| "primitive_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15, |
| 1884 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 50 |
| ], |
| "primitive_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1884, |
| 5970 |
| ], |
| "skill_idxes": [ |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 90 |
| ], |
| "primitive_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "garden_chair_cottya_2", |
| "garden_chair_cottya_1", |
| "garden_chair_cottya_0" |
| ], |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "garden_chair_cottya_2", |
| "garden_chair_cottya_1", |
| "garden_chair_cottya_0" |
| ] |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "away", |
| "away", |
| "away" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| [ |
| 5970, |
| 6084 |
| ], |
| 8466 |
| ], |
| "skill_idxes": [ |
| 25, |
| 26, |
| 27, |
| 28, |
| 29, |
| 30, |
| 31 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 50 |
| ], |
| "primitive_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 8466, |
| 8619 |
| ], |
| 12744 |
| ], |
| "skill_idxes": [ |
| 32, |
| 33, |
| 34, |
| 35, |
| 36, |
| 37, |
| 38, |
| 39, |
| 40, |
| 41, |
| 42, |
| 43, |
| 44, |
| 45, |
| 46, |
| 47, |
| 48, |
| 49, |
| 50 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12744, |
| 13488 |
| ], |
| "skill_idxes": [ |
| 51, |
| 52 |
| ] |
| } |
| ] |
| } |
