{
    "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
            ]
        }
    ]
}