| { |
| "task_name": "clean a patio", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 13325, |
| "valid_duration": [ |
| 9, |
| 13334 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9, |
| 717 |
| ], |
| "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": [ |
| 717, |
| 1875 |
| ], |
| "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": [ |
| 2025, |
| 2322 |
| ], |
| "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": [ |
| 2322, |
| 2457 |
| ], |
| "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": [ |
| 2457, |
| 2502 |
| ], |
| "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": [ |
| 2502, |
| 2639 |
| ], |
| "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": [ |
| 2639, |
| 2846 |
| ], |
| "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": [ |
| 2846, |
| 3080 |
| ], |
| "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": [ |
| 3080, |
| 3143 |
| ], |
| "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": [ |
| 3143, |
| 3230 |
| ], |
| "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": [ |
| 3230, |
| 3277 |
| ], |
| "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": [ |
| 3277, |
| 3517 |
| ], |
| "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": [ |
| 3517, |
| 3601 |
| ], |
| "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": [ |
| 3601, |
| 3760 |
| ], |
| "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": [ |
| 3760, |
| 3829 |
| ], |
| "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": [ |
| 3829, |
| 4417 |
| ], |
| "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": [ |
| 4417, |
| 4480 |
| ], |
| "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": [ |
| 4480, |
| 4912 |
| ], |
| "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": [ |
| 4912, |
| 4966 |
| ], |
| "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": [ |
| 4966, |
| 5149 |
| ], |
| "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": [ |
| 5149, |
| 5230 |
| ], |
| "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": [ |
| 5230, |
| 5599 |
| ], |
| "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": [ |
| 5599, |
| 5680 |
| ], |
| "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": [ |
| 5680, |
| 5731 |
| ], |
| "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": [ |
| 5731, |
| 5782 |
| ], |
| "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": [ |
| 5782, |
| 6166 |
| ], |
| "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": [ |
| 6166, |
| 6208 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_2" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 6208, |
| 6703 |
| ], |
| [ |
| 7000, |
| 7033 |
| ] |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 8 |
| ], |
| "skill_description": [ |
| "release" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6703, |
| 7000 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "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": [ |
| 7033, |
| 7726 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7726, |
| 7882 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "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": [ |
| 7882, |
| 8116 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8116, |
| 8308 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 33, |
| "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": [ |
| 8308, |
| 8875 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 8875, |
| 9208 |
| ], |
| [ |
| 9691, |
| 9916 |
| ] |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [ |
| 94 |
| ], |
| "skill_description": [ |
| "hold" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9208, |
| 9691 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "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": [ |
| 9916, |
| 9961 |
| ], |
| "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": [ |
| 9961, |
| 10138 |
| ], |
| "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": [ |
| 10138, |
| 10201 |
| ], |
| "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": [ |
| 10201, |
| 10453 |
| ], |
| "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": [ |
| 10453, |
| 10480 |
| ], |
| "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": [ |
| 10480, |
| 10519 |
| ], |
| "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": [ |
| 10519, |
| 10549 |
| ], |
| "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": [ |
| 10549, |
| 10774 |
| ], |
| "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": [ |
| 10789, |
| 10825 |
| ], |
| "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": [ |
| 10825, |
| 11101 |
| ], |
| "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": [ |
| 11101, |
| 11209 |
| ], |
| "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": [ |
| 11209, |
| 12412 |
| ], |
| "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": [ |
| 12412, |
| 12658 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 49, |
| "skill_id": [ |
| 8 |
| ], |
| "skill_description": [ |
| "release" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12685, |
| 12892 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 50, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12892, |
| 13334 |
| ], |
| "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": [ |
| 9, |
| 2322 |
| ], |
| "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": [ |
| 2322, |
| 6208 |
| ], |
| "skill_idxes": [ |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26 |
| ] |
| }, |
| { |
| "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": [ |
| [ |
| 6208, |
| 6703 |
| ], |
| 8875 |
| ], |
| "skill_idxes": [ |
| 27, |
| 28, |
| 29, |
| 30, |
| 31, |
| 32, |
| 33 |
| ] |
| }, |
| { |
| "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": [ |
| [ |
| 8875, |
| 9208 |
| ], |
| 12658 |
| ], |
| "skill_idxes": [ |
| 34, |
| 35, |
| 36, |
| 37, |
| 38, |
| 39, |
| 40, |
| 41, |
| 42, |
| 43, |
| 44, |
| 45, |
| 46, |
| 47, |
| 48 |
| ] |
| }, |
| { |
| "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": [ |
| 12685, |
| 13334 |
| ], |
| "skill_idxes": [ |
| 49, |
| 50 |
| ] |
| } |
| ] |
| } |