| { | |
| "task_name": "clean a patio", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 11670, | |
| "valid_duration": [ | |
| 0, | |
| 11670 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "broom_172" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 1170 | |
| ], | |
| "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": [ | |
| 1170, | |
| 2040 | |
| ], | |
| "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": [ | |
| 2040, | |
| 2247 | |
| ], | |
| "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": [ | |
| 2256, | |
| 2688 | |
| ], | |
| "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": [ | |
| 2688, | |
| 2838 | |
| ], | |
| "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": [ | |
| 2838, | |
| 3027 | |
| ], | |
| "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": [ | |
| 3027, | |
| 3315 | |
| ], | |
| "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": [ | |
| 3315, | |
| 3348 | |
| ], | |
| "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": [ | |
| 3348, | |
| 3378 | |
| ], | |
| "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": [ | |
| 3378, | |
| 3546 | |
| ], | |
| "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": [ | |
| 3546, | |
| 3672 | |
| ], | |
| "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": [ | |
| 3672, | |
| 4215 | |
| ], | |
| "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": [ | |
| 4215, | |
| 4488 | |
| ], | |
| "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": [ | |
| 4488, | |
| 5595 | |
| ], | |
| "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": [ | |
| 5595, | |
| 5670 | |
| ], | |
| "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": [ | |
| 5670, | |
| 5700 | |
| ], | |
| "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": [ | |
| 5700, | |
| 5745 | |
| ], | |
| "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": [ | |
| 5745, | |
| 6279 | |
| ], | |
| "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": [ | |
| 6285, | |
| 6330 | |
| ], | |
| "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": [ | |
| 6330, | |
| 6360 | |
| ], | |
| "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": [ | |
| 6360, | |
| 6399 | |
| ], | |
| "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": [ | |
| 6399, | |
| 6408 | |
| ], | |
| "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": [ | |
| 6408, | |
| 6438 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "garden_chair_cottya_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6438, | |
| 6636 | |
| ], | |
| "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": [ | |
| 6636, | |
| 6747 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "coordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "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": [ | |
| 6747, | |
| 7218 | |
| ], | |
| "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": [ | |
| 7218, | |
| 7356 | |
| ], | |
| "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": [ | |
| 7356, | |
| 7725 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 28, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "garden_chair_cottya_2" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7725, | |
| 7869 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "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": [ | |
| 7869, | |
| 8103 | |
| ], | |
| "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": [ | |
| [ | |
| 8103, | |
| 8163 | |
| ], | |
| [ | |
| 8310, | |
| 8340 | |
| ] | |
| ], | |
| "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": [ | |
| 8163, | |
| 8310 | |
| ], | |
| "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": [ | |
| 8340, | |
| 8487 | |
| ], | |
| "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": [ | |
| 8487, | |
| 9063 | |
| ], | |
| "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": [ | |
| 9063, | |
| 9132 | |
| ], | |
| "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": [ | |
| 9132, | |
| 9315 | |
| ], | |
| "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": [ | |
| 9315, | |
| 9378 | |
| ], | |
| "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": [ | |
| 9378, | |
| 10194 | |
| ], | |
| "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": [ | |
| 10194, | |
| 10284 | |
| ], | |
| "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": [ | |
| 10284, | |
| 10404 | |
| ], | |
| "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": [ | |
| 10404, | |
| 10440 | |
| ], | |
| "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": [ | |
| 10440, | |
| 10704 | |
| ], | |
| "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": [ | |
| 10704, | |
| 10755 | |
| ], | |
| "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": [ | |
| 10755, | |
| 10791 | |
| ], | |
| "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": [ | |
| 10791, | |
| 10833 | |
| ], | |
| "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": [ | |
| 10833, | |
| 10947 | |
| ], | |
| "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": [ | |
| 10947, | |
| 10974 | |
| ], | |
| "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": [ | |
| 10974, | |
| 11097 | |
| ], | |
| "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": [ | |
| 11097, | |
| 11142 | |
| ], | |
| "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": [ | |
| 11184, | |
| 11250 | |
| ], | |
| "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": [ | |
| 11250, | |
| 11670 | |
| ], | |
| "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": [ | |
| 0, | |
| 2247 | |
| ], | |
| "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": [ | |
| 2256, | |
| 6438 | |
| ], | |
| "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_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, | |
| 8103 | |
| ], | |
| "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": [ | |
| [ | |
| 8103, | |
| 8163 | |
| ], | |
| 11142 | |
| ], | |
| "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": [ | |
| 11184, | |
| 11670 | |
| ], | |
| "skill_idxes": [ | |
| 49, | |
| 50 | |
| ] | |
| } | |
| ] | |
| } |