| { | |
| "task_name": "clean a patio", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 13515, | |
| "valid_duration": [ | |
| 15, | |
| 13530 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15, | |
| 594 | |
| ], | |
| "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": [ | |
| 594, | |
| 1086 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 5 | |
| ], | |
| "skill_description": [ | |
| "hand over" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "left", | |
| "right" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1086, | |
| 1434 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 94 | |
| ], | |
| "skill_description": [ | |
| "hold" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1434, | |
| 1575 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1575, | |
| 2070 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 50 | |
| ], | |
| "skill_description": [ | |
| "sweep surface" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "floors_ghetev_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2070, | |
| 2151 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2151, | |
| 2582 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [ | |
| 50 | |
| ], | |
| "skill_description": [ | |
| "sweep surface" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "floors_ghetev_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2582, | |
| 2652 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2652, | |
| 2835 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 50 | |
| ], | |
| "skill_description": [ | |
| "sweep surface" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "floors_ghetev_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2835, | |
| 2886 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2886, | |
| 3165 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 50 | |
| ], | |
| "skill_description": [ | |
| "sweep surface" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "floors_ghetev_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3165, | |
| 3219 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3219, | |
| 3438 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [ | |
| 50 | |
| ], | |
| "skill_description": [ | |
| "sweep surface" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "floors_ghetev_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3438, | |
| 3477 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3477, | |
| 3690 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 50 | |
| ], | |
| "skill_description": [ | |
| "sweep surface" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "floors_ghetev_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3690, | |
| 3792 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "garden_chair_lraplz_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| [ | |
| 3792, | |
| 3948 | |
| ], | |
| [ | |
| 4025, | |
| 4617 | |
| ] | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 8 | |
| ], | |
| "skill_description": [ | |
| "release" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3948, | |
| 4025 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "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": [ | |
| 4617, | |
| 4956 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| [ | |
| 4956, | |
| 5124 | |
| ], | |
| [ | |
| 5364, | |
| 5655 | |
| ] | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 20, | |
| "skill_id": [ | |
| 94 | |
| ], | |
| "skill_description": [ | |
| "hold" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5124, | |
| 5364 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 50 | |
| ], | |
| "skill_description": [ | |
| "sweep surface" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "floors_ghetev_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5655, | |
| 5712 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5712, | |
| 6384 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 50 | |
| ], | |
| "skill_description": [ | |
| "sweep surface" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "floors_ghetev_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6384, | |
| 6438 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "garden_chair_cottya_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6438, | |
| 6564 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "skill_id": [ | |
| 8 | |
| ], | |
| "skill_description": [ | |
| "release" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6564, | |
| 6675 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "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": [ | |
| 6675, | |
| 7464 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "garden_chair_cottya_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7464, | |
| 7599 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "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": [ | |
| 7599, | |
| 7884 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 29, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "garden_chair_cottya_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7884, | |
| 8145 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 30, | |
| "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": [ | |
| 8145, | |
| 8679 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 31, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| [ | |
| 8679, | |
| 9222 | |
| ], | |
| [ | |
| 9424, | |
| 9714 | |
| ] | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 32, | |
| "skill_id": [ | |
| 94 | |
| ], | |
| "skill_description": [ | |
| "hold" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9222, | |
| 9424 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 33, | |
| "skill_id": [ | |
| 50 | |
| ], | |
| "skill_description": [ | |
| "sweep surface" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "floors_ghetev_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9714, | |
| 9786 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 34, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 9786, | |
| 9996 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 9996, | |
| 10080 | |
| ], | |
| "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": [ | |
| 10080, | |
| 10260 | |
| ], | |
| "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": [ | |
| 10260, | |
| 10306 | |
| ], | |
| "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": [ | |
| 10306, | |
| 10668 | |
| ], | |
| "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": [ | |
| 10668, | |
| 10692 | |
| ], | |
| "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": [ | |
| 10692, | |
| 10707 | |
| ], | |
| "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": [ | |
| 10707, | |
| 10740 | |
| ], | |
| "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": [ | |
| 10740, | |
| 10992 | |
| ], | |
| "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": [ | |
| 10992, | |
| 11211 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 44, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11211, | |
| 11436 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 45, | |
| "skill_id": [ | |
| 50 | |
| ], | |
| "skill_description": [ | |
| "sweep surface" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "floors_ghetev_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11436, | |
| 11490 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 46, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11490, | |
| 11559 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 47, | |
| "skill_id": [ | |
| 50 | |
| ], | |
| "skill_description": [ | |
| "sweep surface" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "floors_ghetev_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11559, | |
| 11610 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 48, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 11610, | |
| 11940 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 11940, | |
| 12011 | |
| ], | |
| "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": [ | |
| 12011, | |
| 12597 | |
| ], | |
| "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": [ | |
| 12597, | |
| 12652 | |
| ], | |
| "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": [ | |
| 12652, | |
| 12882 | |
| ], | |
| "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": [ | |
| 12882, | |
| 12990 | |
| ], | |
| "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": [ | |
| 13086, | |
| 13146 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 55, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "floors_ghetev_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13146, | |
| 13530 | |
| ], | |
| "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, | |
| 1575 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 1575, | |
| 3792 | |
| ], | |
| "skill_idxes": [ | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| [ | |
| 3792, | |
| 3948 | |
| ], | |
| 4956 | |
| ], | |
| "skill_idxes": [ | |
| 16, | |
| 17, | |
| 18 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| [ | |
| 4956, | |
| 5124 | |
| ], | |
| 6438 | |
| ], | |
| "skill_idxes": [ | |
| 19, | |
| 20, | |
| 21, | |
| 22, | |
| 23 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 4, | |
| "primitive_id": [ | |
| 90 | |
| ], | |
| "primitive_description": [ | |
| "push to" | |
| ], | |
| "object_id": [ | |
| [ | |
| [ | |
| "garden_chair_cottya_0", | |
| "garden_chair_cottya_1", | |
| "garden_chair_cottya_2" | |
| ], | |
| "robot" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| [ | |
| "garden_chair_cottya_0", | |
| "garden_chair_cottya_1", | |
| "garden_chair_cottya_2" | |
| ] | |
| ], | |
| "spatial_prefix": [ | |
| [ | |
| [], | |
| [ | |
| "away", | |
| "away", | |
| "away" | |
| ] | |
| ] | |
| ], | |
| "frame_duration": [ | |
| 6438, | |
| 8679 | |
| ], | |
| "skill_idxes": [ | |
| 24, | |
| 25, | |
| 26, | |
| 27, | |
| 28, | |
| 29, | |
| 30 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| [ | |
| 8679, | |
| 9222 | |
| ], | |
| 12990 | |
| ], | |
| "skill_idxes": [ | |
| 31, | |
| 32, | |
| 33, | |
| 34, | |
| 35, | |
| 36, | |
| 37, | |
| 38, | |
| 39, | |
| 40, | |
| 41, | |
| 42, | |
| 43, | |
| 44, | |
| 45, | |
| 46, | |
| 47, | |
| 48, | |
| 49, | |
| 50, | |
| 51, | |
| 52, | |
| 53 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 6, | |
| "primitive_id": [ | |
| 3 | |
| ], | |
| "primitive_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "floors_ghetev_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 13086, | |
| 13530 | |
| ], | |
| "skill_idxes": [ | |
| 54, | |
| 55 | |
| ] | |
| } | |
| ] | |
| } |