| { |
| "task_name": "clean a patio", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 12351, |
| "valid_duration": [ |
| 15, |
| 12366 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 15, |
| 222 |
| ], |
| "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": [ |
| 222, |
| 924 |
| ], |
| "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": [ |
| 1344, |
| 1446 |
| ], |
| "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": [ |
| 1446, |
| 1542 |
| ], |
| "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": [ |
| 1542, |
| 1737 |
| ], |
| "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": [ |
| 1737, |
| 1952 |
| ], |
| "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": [ |
| 1952, |
| 2205 |
| ], |
| "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": [ |
| 2205, |
| 2301 |
| ], |
| "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": [ |
| 2301, |
| 2403 |
| ], |
| "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": [ |
| 2403, |
| 2553 |
| ], |
| "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": [ |
| 2553, |
| 2712 |
| ], |
| "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": [ |
| 2712, |
| 2841 |
| ], |
| "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": [ |
| 2841, |
| 2973 |
| ], |
| "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": [ |
| 2973, |
| 4378 |
| ], |
| "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": [ |
| 4378, |
| 4483 |
| ], |
| "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": [ |
| 4483, |
| 4555 |
| ], |
| "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": [ |
| 4555, |
| 4669 |
| ], |
| "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": [ |
| 4669, |
| 4876 |
| ], |
| "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": [ |
| 4876, |
| 5002 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 8 |
| ], |
| "skill_description": [ |
| "release" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5002, |
| 5080 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_lraplz_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5080, |
| 5245 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 90 |
| ], |
| "skill_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_lraplz_0", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "garden_chair_lraplz_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| "", |
| "away" |
| ] |
| ], |
| "frame_duration": [ |
| 5245, |
| 5536 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 94 |
| ], |
| "skill_description": [ |
| "hold" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5536, |
| 5731 |
| ], |
| "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": [ |
| 5731, |
| 5775 |
| ], |
| "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": [ |
| 5775, |
| 5852 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5861, |
| 6082 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6082, |
| 6233 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6233, |
| 6526 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6526, |
| 6607 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_2" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 6607, |
| 6652 |
| ], |
| [ |
| 6673, |
| 6919 |
| ] |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 8 |
| ], |
| "skill_description": [ |
| "release" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6652, |
| 6673 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_2", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "garden_chair_cottya_2" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6919, |
| 7119 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_2", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "garden_chair_cottya_2" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7119, |
| 7362 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 7362, |
| 7656 |
| ], |
| [ |
| 7841, |
| 7881 |
| ] |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [ |
| 94 |
| ], |
| "skill_description": [ |
| "hold" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7656, |
| 7846 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7881, |
| 8049 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 36, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8049, |
| 8106 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8106, |
| 8193 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 38, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8193, |
| 8250 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8250, |
| 8355 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 40, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8355, |
| 8535 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 41, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8535, |
| 8598 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 42, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8598, |
| 8733 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 43, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8733, |
| 8835 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 44, |
| "skill_id": [ |
| 8 |
| ], |
| "skill_description": [ |
| "release" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8835, |
| 8964 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 45, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8964, |
| 9156 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 46, |
| "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": [ |
| 9156, |
| 9585 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 47, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 9585, |
| 9831 |
| ], |
| [ |
| 10008, |
| 10047 |
| ] |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 48, |
| "skill_id": [ |
| 94 |
| ], |
| "skill_description": [ |
| "hold" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9831, |
| 10008 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 49, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10047, |
| 10248 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 50, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10248, |
| 10317 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 51, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10317, |
| 10398 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 52, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10398, |
| 10518 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 53, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10518, |
| 10581 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 54, |
| "skill_id": [ |
| 8 |
| ], |
| "skill_description": [ |
| "release" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10581, |
| 10617 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 55, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10617, |
| 10896 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 56, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_1", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "garden_chair_cottya_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10896, |
| 11265 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 57, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_1", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "garden_chair_cottya_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11265, |
| 11382 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 58, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 11382, |
| 11715 |
| ], |
| [ |
| 11767, |
| 11785 |
| ] |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 59, |
| "skill_id": [ |
| 94 |
| ], |
| "skill_description": [ |
| "hold" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11715, |
| 11767 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 60, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 11785, |
| 12034 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 61, |
| "skill_id": [ |
| 8 |
| ], |
| "skill_description": [ |
| "release" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12088, |
| 12103 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 62, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12103, |
| 12366 |
| ], |
| "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, |
| 1446 |
| ], |
| "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": [ |
| 1446, |
| 5080 |
| ], |
| "skill_idxes": [ |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 90 |
| ], |
| "primitive_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_lraplz_0", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "garden_chair_lraplz_0" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "away" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 5080, |
| 5536 |
| ], |
| "skill_idxes": [ |
| 20, |
| 21 |
| ] |
| }, |
| { |
| "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": [ |
| 5536, |
| 6607 |
| ], |
| "skill_idxes": [ |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_2", |
| "floors_ghetev_0" |
| ], |
| [ |
| "garden_chair_cottya_2", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "garden_chair_cottya_2", |
| "garden_chair_cottya_2" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 6607, |
| 6652 |
| ], |
| 7362 |
| ], |
| "skill_idxes": [ |
| 29, |
| 30, |
| 31, |
| 32 |
| ] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [ |
| 50 |
| ], |
| "primitive_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 7362, |
| 7656 |
| ], |
| 8964 |
| ], |
| "skill_idxes": [ |
| 33, |
| 34, |
| 35, |
| 36, |
| 37, |
| 38, |
| 39, |
| 40, |
| 41, |
| 42, |
| 43, |
| 44 |
| ] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [ |
| 90 |
| ], |
| "primitive_description": [ |
| "push to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_1", |
| "robot" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "garden_chair_cottya_1" |
| ], |
| "spatial_prefix": [ |
| [ |
| [], |
| [ |
| "away" |
| ] |
| ] |
| ], |
| "frame_duration": [ |
| 8964, |
| 9585 |
| ], |
| "skill_idxes": [ |
| 45, |
| 46 |
| ] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [ |
| 50 |
| ], |
| "primitive_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 9585, |
| 9831 |
| ], |
| 10617 |
| ], |
| "skill_idxes": [ |
| 47, |
| 48, |
| 49, |
| 50, |
| 51, |
| 52, |
| 53, |
| 54 |
| ] |
| }, |
| { |
| "primitive_idx": 8, |
| "primitive_id": [ |
| 2, |
| 3 |
| ], |
| "primitive_description": [ |
| "pick up from", |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_1", |
| "floors_ghetev_0" |
| ], |
| [ |
| "garden_chair_cottya_1", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "garden_chair_cottya_1", |
| "garden_chair_cottya_1" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10617, |
| 11382 |
| ], |
| "skill_idxes": [ |
| 55, |
| 56, |
| 57 |
| ] |
| }, |
| { |
| "primitive_idx": 9, |
| "primitive_id": [ |
| 50 |
| ], |
| "primitive_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 11382, |
| 11715 |
| ], |
| 12034 |
| ], |
| "skill_idxes": [ |
| 58, |
| 59, |
| 60 |
| ] |
| }, |
| { |
| "primitive_idx": 10, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12088, |
| 12366 |
| ], |
| "skill_idxes": [ |
| 61, |
| 62 |
| ] |
| } |
| ] |
| } |
