| { |
| "task_name": "clean a patio", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 9150, |
| "valid_duration": [6, 9156] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["garden_chair_cottya_2"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6, 452], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [90], |
| "skill_description": ["push to"], |
| "object_id": [["garden_chair_cottya_2", "robot"]], |
| "manipulating_object_id": ["garden_chair_cottya_2"], |
| "memory_prefix": [], |
| "spatial_prefix": [["", "away"]], |
| "frame_duration": [452, 848], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["broom_172"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [848, 1212], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["broom_172", "floors_ghetev_0"]], |
| "manipulating_object_id": ["broom_172"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1212, 2239], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [94], |
| "skill_description": ["hold"], |
| "object_id": [["broom_172"]], |
| "manipulating_object_id": ["broom_172"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2239, 2342], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2342, 2552], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2552, 2660], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2660, 2747], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2747, 2783], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2783, 2849], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2849, 2945], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2945, 3108], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3108, 3171], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3171, 3366], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3366, 3420], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3420, 3603], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3603, 3714], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3714, 4071], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4071, 4125], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4125, 4128], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4128, 4164], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4164, 4359], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4359, 4404], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4404, 4536], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4536, 4596], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4596, 5190], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5190, 5247], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5247, 5313], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5313, 5373], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5373, 5598], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5598, 5667], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [5667, 6062], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6062, 6128], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [6128, 7342], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7342, 7426], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7426, 7594], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7594, 7630], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7630, 7695], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7695, 7728], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7728, 7973], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [7973, 8036], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 41, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8036, 8210], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8210, 8260], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 43, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mud"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8260, 8621], |
| "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"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8621, 8687], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 45, |
| "skill_id": [8], |
| "skill_description": ["release"], |
| "object_id": [["broom_172"]], |
| "manipulating_object_id": ["broom_172"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8687, 8754], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 46, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["broom_172", "floors_ghetev_0"]], |
| "manipulating_object_id": ["broom_172"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8754, 9156], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [90], |
| "primitive_description": ["push to"], |
| "object_id": [["garden_chair_cottya_2", "robot"]], |
| "manipulating_object_id": ["garden_chair_cottya_2"], |
| "memory_prefix": [], |
| "spatial_prefix": [[[], ["away"]]], |
| "frame_duration": [6, 848], |
| "skill_idxes": [0, 1] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["broom_172", "floors_ghetev_0"]], |
| "manipulating_object_id": ["broom_172"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [848, 2342], |
| "skill_idxes": [2, 3, 4] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [50], |
| "primitive_description": ["sweep surface"], |
| "object_id": [["broom_172", "floors_ghetev_0"]], |
| "manipulating_object_id": ["broom_172"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2342, 8687], |
| "skill_idxes": [5, 6, 7, 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] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [3], |
| "primitive_description": ["place on"], |
| "object_id": [["broom_172", "floors_ghetev_0"]], |
| "manipulating_object_id": ["broom_172"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8687, 9156], |
| "skill_idxes": [45, 46] |
| } |
| ] |
| } |