| { | |
| "task_name": "chopping wood", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 10110, | |
| "valid_duration": [ | |
| 0, | |
| 10110 | |
| ] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "log_175" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 0, | |
| 765 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "log_175", | |
| "driveway_umalys_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "log_175" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 765, | |
| 1277 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "uncoordinated" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [ | |
| 1 | |
| ], | |
| "skill_description": [ | |
| "move to" | |
| ], | |
| "object_id": [ | |
| [ | |
| "axe_173" | |
| ] | |
| ], | |
| "manipulating_object_id": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1277, | |
| 1971 | |
| ], | |
| "mp_ef": [], | |
| "skill_type": [ | |
| "navigation" | |
| ] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [ | |
| 2 | |
| ], | |
| "skill_description": [ | |
| "pick up from" | |
| ], | |
| "object_id": [ | |
| [ | |
| "axe_173", | |
| "driveway_umalys_0" | |
| ] | |
| ], | |
| "manipulating_object_id": [ | |
| "axe_173" | |
| ], | |
| "spatial_prefix": [], | |
| "frame_duration": [ | |
| 1971, | |
| 3042 | |
| ], | |
| "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": [ | |
| 3042, | |
| 3238 | |
| ], | |
| "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": [ | |
| 3238, | |
| 3803 | |
| ], | |
| "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": [ | |
| 3803, | |
| 4059 | |
| ], | |
| "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": [ | |
| 4059, | |
| 4221 | |
| ], | |
| "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": [ | |
| 4221, | |
| 4567 | |
| ], | |
| "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": [ | |
| 4567, | |
| 5069 | |
| ], | |
| "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": [ | |
| 5069, | |
| 5403 | |
| ], | |
| "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": [ | |
| 5404, | |
| 5756 | |
| ], | |
| "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": [ | |
| 5756, | |
| 5978 | |
| ], | |
| "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": [ | |
| 5978, | |
| 6168 | |
| ], | |
| "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": [ | |
| 6168, | |
| 6405 | |
| ], | |
| "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": [ | |
| 6406, | |
| 6763 | |
| ], | |
| "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": [ | |
| 6764, | |
| 6870 | |
| ], | |
| "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": [ | |
| 6870, | |
| 7080 | |
| ], | |
| "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": [ | |
| 7089, | |
| 7295 | |
| ], | |
| "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": [ | |
| 7299, | |
| 7500 | |
| ], | |
| "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": [ | |
| 7500, | |
| 8154 | |
| ], | |
| "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": [ | |
| 8154, | |
| 8557 | |
| ], | |
| "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": [ | |
| 8567, | |
| 9256 | |
| ], | |
| "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": [ | |
| 9257, | |
| 9509 | |
| ], | |
| "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": [ | |
| 9509, | |
| 9771 | |
| ], | |
| "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": [ | |
| 9771, | |
| 9883 | |
| ], | |
| "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": [ | |
| 9884, | |
| 10110 | |
| ], | |
| "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, | |
| 4221 | |
| ], | |
| "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": [ | |
| 4221, | |
| 6168 | |
| ], | |
| "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": [ | |
| 6168, | |
| 7500 | |
| ], | |
| "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": [ | |
| 7500, | |
| 9883 | |
| ], | |
| "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": [ | |
| 9884, | |
| 10110 | |
| ], | |
| "skill_idxes": [ | |
| 26 | |
| ] | |
| } | |
| ] | |
| } |