| { | |
| "task_name": "chopping wood", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 9969, | |
| "valid_duration": [ | |
| 21, | |
| 9990 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "axe_173" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 21, | |
| 629 | |
| ], | |
| "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": [ | |
| 629, | |
| 1350 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "log_176" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1350, | |
| 1655 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "log_176", | |
| "driveway_umalys_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "log_176" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1655, | |
| 2156 | |
| ], | |
| "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": [ | |
| 2157, | |
| 2978 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 5, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "log_176", | |
| "chopping_block_172" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "log_176" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 2978, | |
| 3309 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "axe_173", | |
| "log_176" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "axe_173" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3309, | |
| 3492 | |
| ], | |
| "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": [ | |
| 3492, | |
| 3604 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 8, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "log_175" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3605, | |
| 3863 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "log_175", | |
| "driveway_umalys_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "log_175" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3863, | |
| 4224 | |
| ], | |
| "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": [ | |
| 4224, | |
| 4546 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "log_175", | |
| "chopping_block_172" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "log_175" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4546, | |
| 4877 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "axe_173", | |
| "log_175" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "axe_173" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 4890, | |
| 5063 | |
| ], | |
| "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": [ | |
| 5064, | |
| 5229 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 14, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "log_177" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5229, | |
| 5820 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "log_177", | |
| "driveway_umalys_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "log_177" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5821, | |
| 6317 | |
| ], | |
| "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": [ | |
| 6317, | |
| 6762 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [ | |
| 3 | |
| ], | |
| "skill_description": [ | |
| "place on" | |
| ], | |
| "object_id": [ | |
| [ | |
| "log_177", | |
| "chopping_block_172" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "log_177" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 6762, | |
| 7290 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [ | |
| 34 | |
| ], | |
| "skill_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "axe_173", | |
| "log_177" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "axe_173" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 7290, | |
| 7547 | |
| ], | |
| "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": [ | |
| 7560, | |
| 7665 | |
| ], | |
| "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": [ | |
| 7665, | |
| 8276 | |
| ], | |
| "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": [ | |
| 8276, | |
| 8709 | |
| ], | |
| "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": [ | |
| 8709, | |
| 9210 | |
| ], | |
| "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": [ | |
| 9210, | |
| 9522 | |
| ], | |
| "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": [ | |
| 9522, | |
| 9645 | |
| ], | |
| "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": [ | |
| 9645, | |
| 9732 | |
| ], | |
| "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": [ | |
| 9732, | |
| 9990 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [ | |
| 34 | |
| ], | |
| "primitive_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "axe_173", | |
| "log_176" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "axe_173" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 21, | |
| 3604 | |
| ], | |
| "skill_idxes": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 1, | |
| "primitive_id": [ | |
| 34 | |
| ], | |
| "primitive_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "axe_173", | |
| "log_175" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "axe_173" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 3605, | |
| 5229 | |
| ], | |
| "skill_idxes": [ | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13 | |
| ] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [ | |
| 34 | |
| ], | |
| "primitive_description": [ | |
| "chop" | |
| ], | |
| "object_id": [ | |
| [ | |
| "axe_173", | |
| "log_177" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "axe_173" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 5229, | |
| 7665 | |
| ], | |
| "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": [ | |
| 7665, | |
| 9732 | |
| ], | |
| "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": [ | |
| 9732, | |
| 9990 | |
| ], | |
| "skill_idxes": [ | |
| 26 | |
| ] | |
| } | |
| ] | |
| } |