| { |
| "task_name": "clean a patio", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 14427, |
| "valid_duration": [ |
| 0, |
| 14427 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 18 |
| ], |
| "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": [ |
| 18, |
| 1290 |
| ], |
| "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": [ |
| 1488, |
| 1848 |
| ], |
| "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": [ |
| 1848, |
| 1974 |
| ], |
| "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": [ |
| 1974, |
| 2004 |
| ], |
| "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": [ |
| 2004, |
| 2331 |
| ], |
| "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": [ |
| 2331, |
| 2403 |
| ], |
| "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": [ |
| 2403, |
| 2679 |
| ], |
| "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": [ |
| 2679, |
| 2742 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "garden_chair_lraplz_0" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 2742, |
| 3093 |
| ], |
| [ |
| 3345, |
| 3402 |
| ] |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 8 |
| ], |
| "skill_description": [ |
| "release" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3093, |
| 3345 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "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": [ |
| 3402, |
| 4083 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| [ |
| 4083, |
| 4170 |
| ], |
| [ |
| 4716, |
| 4899 |
| ] |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 94 |
| ], |
| "skill_description": [ |
| "hold" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4170, |
| 4716 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "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": [ |
| 4899, |
| 4992 |
| ], |
| "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": [ |
| 4992, |
| 5262 |
| ], |
| "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": [ |
| 5262, |
| 5343 |
| ], |
| "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": [ |
| 5343, |
| 5700 |
| ], |
| "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": [ |
| 5700, |
| 5763 |
| ], |
| "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": [ |
| 5763, |
| 6588 |
| ], |
| "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": [ |
| 6588, |
| 6837 |
| ], |
| "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": [ |
| 6837, |
| 7077 |
| ], |
| "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": [ |
| 7077, |
| 7161 |
| ], |
| "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": [ |
| [ |
| 7161, |
| 7428 |
| ], |
| [ |
| 7743, |
| 7871 |
| ] |
| ], |
| "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": [ |
| 7428, |
| 7743 |
| ], |
| "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": [ |
| 7871, |
| 8601 |
| ], |
| "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": [ |
| 8601, |
| 8754 |
| ], |
| "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": [ |
| 8754, |
| 9087 |
| ], |
| "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": [ |
| 9087, |
| 9291 |
| ], |
| "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": [ |
| 9291, |
| 9894 |
| ], |
| "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": [ |
| [ |
| 9894, |
| 9939 |
| ], |
| [ |
| 10563, |
| 10698 |
| ] |
| ], |
| "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": [ |
| 9939, |
| 10563 |
| ], |
| "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": [ |
| 10698, |
| 10716 |
| ], |
| "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": [ |
| 10716, |
| 10767 |
| ], |
| "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": [ |
| 10767, |
| 10809 |
| ], |
| "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": [ |
| 10809, |
| 11175 |
| ], |
| "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": [ |
| 11175, |
| 11238 |
| ], |
| "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": [ |
| 11238, |
| 11547 |
| ], |
| "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": [ |
| 11547, |
| 11610 |
| ], |
| "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": [ |
| 11610, |
| 11880 |
| ], |
| "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": [ |
| 11880, |
| 11949 |
| ], |
| "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": [ |
| 11949, |
| 12243 |
| ], |
| "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": [ |
| 12243, |
| 12294 |
| ], |
| "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": [ |
| 12294, |
| 12510 |
| ], |
| "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": [ |
| 12510, |
| 12576 |
| ], |
| "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": [ |
| 12576, |
| 12714 |
| ], |
| "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": [ |
| 12714, |
| 12792 |
| ], |
| "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": [ |
| 12792, |
| 13191 |
| ], |
| "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": [ |
| 13191, |
| 13290 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 49, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13290, |
| 13542 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 50, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13542, |
| 13596 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 51, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "mud" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13596, |
| 13716 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 52, |
| "skill_id": [ |
| 50 |
| ], |
| "skill_description": [ |
| "sweep surface" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13716, |
| 13788 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 53, |
| "skill_id": [ |
| 8 |
| ], |
| "skill_description": [ |
| "release" |
| ], |
| "object_id": [ |
| [ |
| "broom_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13866, |
| 13953 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "coordinated" |
| ] |
| }, |
| { |
| "skill_idx": 54, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "broom_172", |
| "floors_ghetev_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "broom_172" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 13953, |
| 14427 |
| ], |
| "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, |
| 1848 |
| ], |
| "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": [ |
| 1848, |
| 2742 |
| ], |
| "skill_idxes": [ |
| 3, |
| 4, |
| 5, |
| 6, |
| 7, |
| 8 |
| ] |
| }, |
| { |
| "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": [ |
| [ |
| 2742, |
| 3093 |
| ], |
| 4083 |
| ], |
| "skill_idxes": [ |
| 9, |
| 10, |
| 11 |
| ] |
| }, |
| { |
| "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": [ |
| [ |
| 4083, |
| 4170 |
| ], |
| 7161 |
| ], |
| "skill_idxes": [ |
| 12, |
| 13, |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19, |
| 20, |
| 21, |
| 22 |
| ] |
| }, |
| { |
| "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": [ |
| [ |
| 7161, |
| 7428 |
| ], |
| 9894 |
| ], |
| "skill_idxes": [ |
| 23, |
| 24, |
| 25, |
| 26, |
| 27, |
| 28, |
| 29 |
| ] |
| }, |
| { |
| "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": [ |
| [ |
| 9894, |
| 9939 |
| ], |
| 13788 |
| ], |
| "skill_idxes": [ |
| 30, |
| 31, |
| 32, |
| 33, |
| 34, |
| 35, |
| 36, |
| 37, |
| 38, |
| 39, |
| 40, |
| 41, |
| 42, |
| 43, |
| 44, |
| 45, |
| 46, |
| 47, |
| 48, |
| 49, |
| 50, |
| 51, |
| 52 |
| ] |
| }, |
| { |
| "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": [ |
| 13866, |
| 14427 |
| ], |
| "skill_idxes": [ |
| 53, |
| 54 |
| ] |
| } |
| ] |
| } |
