| { |
| "task_name": "clean a patio", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 11376, |
| "valid_duration": [ |
| 12, |
| 11388 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 12, |
| 447 |
| ], |
| "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": [ |
| 447, |
| 1654 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1654, |
| 1906 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "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": [ |
| 1906, |
| 2574 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_1" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2574, |
| 2742 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "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": [ |
| 2742, |
| 3225 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_cottya_2" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3225, |
| 3426 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "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": [ |
| 3426, |
| 3633 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 3633, |
| 3744 |
| ], |
| [ |
| 4002, |
| 4191 |
| ] |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 94 |
| ], |
| "skill_description": [ |
| "hold" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3744, |
| 4002 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "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": [ |
| 4191, |
| 4248 |
| ], |
| "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": [ |
| 4248, |
| 4476 |
| ], |
| "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": [ |
| 4476, |
| 4530 |
| ], |
| "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": [ |
| 4530, |
| 4902 |
| ], |
| "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": [ |
| 4902, |
| 4974 |
| ], |
| "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": [ |
| 4974, |
| 5256 |
| ], |
| "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": [ |
| 5256, |
| 5310 |
| ], |
| "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": [ |
| 5310, |
| 5460 |
| ], |
| "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": [ |
| 5460, |
| 5499 |
| ], |
| "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": [ |
| 5499, |
| 5586 |
| ], |
| "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": [ |
| 5586, |
| 5640 |
| ], |
| "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": [ |
| 5640, |
| 5847 |
| ], |
| "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": [ |
| 5847, |
| 5916 |
| ], |
| "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": [ |
| 5916, |
| 6740 |
| ], |
| "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": [ |
| 6740, |
| 6810 |
| ], |
| "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": [ |
| 6810, |
| 7149 |
| ], |
| "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": [ |
| 7149, |
| 7242 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7242, |
| 7368 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7368, |
| 7446 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7446, |
| 7599 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7599, |
| 7653 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7653, |
| 8076 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "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": [ |
| 8076, |
| 8121 |
| ], |
| "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": [ |
| 8121, |
| 8151 |
| ], |
| "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": [ |
| 8151, |
| 8181 |
| ], |
| "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": [ |
| 8181, |
| 8445 |
| ], |
| "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": [ |
| 8445, |
| 8523 |
| ], |
| "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": [ |
| 8523, |
| 9486 |
| ], |
| "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": [ |
| 9486, |
| 9579 |
| ], |
| "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": [ |
| 9579, |
| 9687 |
| ], |
| "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": [ |
| 9687, |
| 9729 |
| ], |
| "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": [ |
| 9729, |
| 9863 |
| ], |
| "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": [ |
| 9863, |
| 9930 |
| ], |
| "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": [ |
| 9930, |
| 10152 |
| ], |
| "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": [ |
| 10152, |
| 10278 |
| ], |
| "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": [ |
| 10278, |
| 10659 |
| ], |
| "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": [ |
| 10659, |
| 10740 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 47, |
| "skill_id": [ |
| 8 |
| ], |
| "skill_description": [ |
| "release" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10866, |
| 10917 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 48, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10917, |
| 11388 |
| ], |
| "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": [ |
| 12, |
| 1654 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "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": [ |
| 1654, |
| 3633 |
| ], |
| "skill_idxes": [ |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 50 |
| ], |
| "primitive_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 3633, |
| 3744 |
| ], |
| 10740 |
| ], |
| "skill_idxes": [ |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29, |
| 30, |
| 31, |
| 32, |
| 33, |
| 34, |
| 35, |
| 36, |
| 37, |
| 38, |
| 39, |
| 40, |
| 41, |
| 42, |
| 43, |
| 44, |
| 45, |
| 46 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 10866, |
| 11388 |
| ], |
| "skill_idxes": [ |
| 47, |
| 48 |
| ] |
| } |
| ] |
| } |