| { | |
| "task_name": "clean a patio", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 10995, | |
| "valid_duration": [ | |
| 15, | |
| 11010 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 15, | |
| 636 | |
| ], | |
| "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": [ | |
| 636, | |
| 1617 | |
| ], | |
| "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": [ | |
| 1665, | |
| 1952 | |
| ], | |
| "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": [ | |
| 1952, | |
| 2067 | |
| ], | |
| "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": [ | |
| 2067, | |
| 2208 | |
| ], | |
| "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": [ | |
| 2208, | |
| 2304 | |
| ], | |
| "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": [ | |
| 2304, | |
| 2352 | |
| ], | |
| "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": [ | |
| 2352, | |
| 2412 | |
| ], | |
| "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": [ | |
| 2412, | |
| 2493 | |
| ], | |
| "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": [ | |
| 2493, | |
| 2571 | |
| ], | |
| "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": [ | |
| 2571, | |
| 2616 | |
| ], | |
| "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": [ | |
| 2616, | |
| 3399 | |
| ], | |
| "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": [ | |
| 3399, | |
| 3495 | |
| ], | |
| "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": [ | |
| 3495, | |
| 3582 | |
| ], | |
| "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": [ | |
| 3582, | |
| 3615 | |
| ], | |
| "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": [ | |
| 3615, | |
| 3999 | |
| ], | |
| "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": [ | |
| 3999, | |
| 4035 | |
| ], | |
| "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": [ | |
| 4035, | |
| 4077 | |
| ], | |
| "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": [ | |
| 4077, | |
| 4092 | |
| ], | |
| "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": [ | |
| 4092, | |
| 4323 | |
| ], | |
| "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": [ | |
| 4323, | |
| 4353 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "garden_chair_cottya_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4353, | |
| 4467 | |
| ], | |
| "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": [ | |
| 4467, | |
| 4512 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "garden_chair_cottya_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| [ | |
| 4512, | |
| 4761 | |
| ], | |
| [ | |
| 4761, | |
| 4896 | |
| ] | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [ | |
| 8 | |
| ], | |
| "skill_description": [ | |
| "release" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4761, | |
| 4860 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "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": [ | |
| 4896, | |
| 5700 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 26, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "garden_chair_cottya_1" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5700, | |
| 5877 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 27, | |
| "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": [ | |
| 5877, | |
| 6219 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "garden_chair_cottya_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6219, | |
| 6411 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 29, | |
| "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": [ | |
| 6411, | |
| 6768 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 30, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| [ | |
| 6768, | |
| 6825 | |
| ], | |
| [ | |
| 7020, | |
| 7368 | |
| ] | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 31, | |
| "skill_id": [ | |
| 94 | |
| ], | |
| "skill_description": [ | |
| "hold" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6825, | |
| 7020 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 32, | |
| "skill_id": [ | |
| 50 | |
| ], | |
| "skill_description": [ | |
| "sweep surface" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172", | |
| "floors_ghetev_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "broom_172" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7368, | |
| 7572 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 33, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "mud" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7572, | |
| 7791 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 7791, | |
| 7881 | |
| ], | |
| "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": [ | |
| 7881, | |
| 8001 | |
| ], | |
| "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": [ | |
| 8001, | |
| 8040 | |
| ], | |
| "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": [ | |
| 8040, | |
| 8181 | |
| ], | |
| "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": [ | |
| 8181, | |
| 8268 | |
| ], | |
| "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": [ | |
| 8268, | |
| 8562 | |
| ], | |
| "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": [ | |
| 8562, | |
| 8622 | |
| ], | |
| "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": [ | |
| 8622, | |
| 8769 | |
| ], | |
| "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": [ | |
| 8769, | |
| 8826 | |
| ], | |
| "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": [ | |
| 8826, | |
| 8844 | |
| ], | |
| "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": [ | |
| 8844, | |
| 8904 | |
| ], | |
| "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": [ | |
| 8904, | |
| 10257 | |
| ], | |
| "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": [ | |
| 10257, | |
| 10344 | |
| ], | |
| "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": [ | |
| 10344, | |
| 10464 | |
| ], | |
| "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": [ | |
| 10464, | |
| 10536 | |
| ], | |
| "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": [ | |
| 10536, | |
| 10653 | |
| ], | |
| "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": [ | |
| 10653, | |
| 11010 | |
| ], | |
| "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, | |
| 1952 | |
| ], | |
| "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": [ | |
| 1952, | |
| 4512 | |
| ], | |
| "skill_idxes": [ | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15, | |
| 16, | |
| 17, | |
| 18, | |
| 19, | |
| 20, | |
| 21, | |
| 22 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| [ | |
| 4512, | |
| 4761 | |
| ], | |
| 6768 | |
| ], | |
| "skill_idxes": [ | |
| 23, | |
| 24, | |
| 25, | |
| 26, | |
| 27, | |
| 28, | |
| 29 | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| [ | |
| 6768, | |
| 6825 | |
| ], | |
| 10536 | |
| ], | |
| "skill_idxes": [ | |
| 30, | |
| 31, | |
| 32, | |
| 33, | |
| 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": [ | |
| 10536, | |
| 11010 | |
| ], | |
| "skill_idxes": [ | |
| 49, | |
| 50 | |
| ] | |
| } | |
| ] | |
| } |