| { |
| "task_name": "chopping wood", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 10149, |
| "valid_duration": [ |
| 0, |
| 10149 |
| ] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "axe_173" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 326 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 326, |
| 1257 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "log_175" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1258, |
| 1664 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "log_175", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_175" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 1664, |
| 2286 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2286, |
| 2580 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "log_175", |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_175" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2580, |
| 2955 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_175" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 2956, |
| 3089 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [ |
| 102 |
| ], |
| "skill_description": [ |
| "sweep off" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ], |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3089, |
| 3270 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "log_177" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3270, |
| 3865 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "log_177", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_177" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3865, |
| 4350 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4350, |
| 4502 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "log_177", |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_177" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4503, |
| 4762 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_177" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4763, |
| 4923 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [ |
| 102 |
| ], |
| "skill_description": [ |
| "sweep off" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ], |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 4923, |
| 5136 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "log_176" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5137, |
| 5535 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "log_176", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_176" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5535, |
| 5907 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5908, |
| 6301 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "log_176", |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_176" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6302, |
| 6690 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_176" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6691, |
| 6876 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [ |
| 102 |
| ], |
| "skill_description": [ |
| "sweep off" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ], |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6876, |
| 6994 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "log_174" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6994, |
| 7722 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [ |
| 2 |
| ], |
| "skill_description": [ |
| "pick up from" |
| ], |
| "object_id": [ |
| [ |
| "log_174", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_174" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 7723, |
| 8261 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [ |
| 1 |
| ], |
| "skill_description": [ |
| "move to" |
| ], |
| "object_id": [ |
| [ |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 8261, |
| 9186 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "navigation" |
| ] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "log_174", |
| "chopping_block_172" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "log_174" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9186, |
| 9551 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [ |
| 34 |
| ], |
| "skill_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_174" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9551, |
| 9742 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [ |
| 102 |
| ], |
| "skill_description": [ |
| "sweep off" |
| ], |
| "object_id": [ |
| [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ], |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| [ |
| "half_log_176_0", |
| "half_log_176_1" |
| ] |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9743, |
| 9900 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [ |
| 3 |
| ], |
| "skill_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9900, |
| 10149 |
| ], |
| "mp_ef": [], |
| "skill_type": [ |
| "uncoordinated" |
| ] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_175" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 0, |
| 3270 |
| ], |
| "skill_idxes": [ |
| 0, |
| 1, |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7 |
| ] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_177" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 3270, |
| 5136 |
| ], |
| "skill_idxes": [ |
| 8, |
| 9, |
| 10, |
| 11, |
| 12, |
| 13 |
| ] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_176" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 5137, |
| 6994 |
| ], |
| "skill_idxes": [ |
| 14, |
| 15, |
| 16, |
| 17, |
| 18, |
| 19 |
| ] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [ |
| 34 |
| ], |
| "primitive_description": [ |
| "chop" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "log_174" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 6994, |
| 9900 |
| ], |
| "skill_idxes": [ |
| 20, |
| 21, |
| 22, |
| 23, |
| 24, |
| 25 |
| ] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [ |
| 3 |
| ], |
| "primitive_description": [ |
| "place on" |
| ], |
| "object_id": [ |
| [ |
| "axe_173", |
| "driveway_umalys_0" |
| ] |
| ], |
| "manipulating_object_id": [ |
| "axe_173" |
| ], |
| "spatial_prefix": [], |
| "frame_duration": [ |
| 9900, |
| 10149 |
| ], |
| "skill_idxes": [ |
| 26 |
| ] |
| } |
| ] |
| } |