{ "task_name": "chopping wood", "data_folder": "", "meta_data": { "task_duration": 6363, "valid_duration": [ 0, 6363 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "log_176" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 284 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "log_176", "driveway_umalys_0" ] ], "manipulating_object_id": [ "log_176" ], "spatial_prefix": [], "frame_duration": [ 284, 528 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 2, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "chopping_block_172" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 528, 709 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 3, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "log_176", "chopping_block_172" ] ], "manipulating_object_id": [ "log_176" ], "spatial_prefix": [], "frame_duration": [ 709, 1002 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "axe_173" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1002, 1206 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 5, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "axe_173", "driveway_umalys_0" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 1206, 1468 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 6, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "log_176" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1468, 1621 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 7, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "axe_173", "log_176" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 1622, 1732 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "half_log_176_1", "driveway_umalys_0" ] ], "manipulating_object_id": [ "half_log_176_1" ], "spatial_prefix": [], "frame_duration": [ 1732, 1817 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "half_log_176_0", "driveway_umalys_0" ] ], "manipulating_object_id": [ "half_log_176_0" ], "spatial_prefix": [], "frame_duration": [ 1732, 1817 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "log_177" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1818, 2040 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 11, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "log_177", "driveway_umalys_0" ] ], "manipulating_object_id": [ "log_177" ], "spatial_prefix": [], "frame_duration": [ 2040, 2290 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "chopping_block_172" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2290, 2493 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 13, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "log_177", "chopping_block_172" ] ], "manipulating_object_id": [ "log_177" ], "spatial_prefix": [], "frame_duration": [ 2493, 2851 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "axe_173", "log_177" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 2851, 2972 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "half_log_177_0", "driveway_umalys_0" ] ], "manipulating_object_id": [ "half_log_177_0" ], "spatial_prefix": [], "frame_duration": [ 2972, 3062 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "log_174" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3062, 3316 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 17, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "log_174", "driveway_umalys_0" ] ], "manipulating_object_id": [ "log_174" ], "spatial_prefix": [], "frame_duration": [ 3316, 3508 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "chopping_block_172" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3508, 3816 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 19, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "log_174", "chopping_block_172" ] ], "manipulating_object_id": [ "log_174" ], "spatial_prefix": [], "frame_duration": [ 3817, 4090 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "axe_173", "log_174" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 4091, 4256 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 21, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "half_log_174_1", "driveway_umalys_0" ] ], "manipulating_object_id": [ "half_log_174_1" ], "spatial_prefix": [], "frame_duration": [ 4256, 4419 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "half_log_174_0", "driveway_umalys_0" ] ], "manipulating_object_id": [ "half_log_174_0" ], "spatial_prefix": [], "frame_duration": [ 4256, 4419 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "log_175" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4419, 4824 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 24, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "log_175", "driveway_umalys_0" ] ], "manipulating_object_id": [ "log_175" ], "spatial_prefix": [], "frame_duration": [ 4824, 5075 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "chopping_block_172" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5075, 5445 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 26, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "log_175", "chopping_block_172" ] ], "manipulating_object_id": [ "log_175" ], "spatial_prefix": [], "frame_duration": [ 5445, 5778 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "axe_173", "log_175" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 5778, 5884 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 28, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "half_log_175_1", "driveway_umalys_0" ] ], "manipulating_object_id": [ "half_log_175_1" ], "spatial_prefix": [], "frame_duration": [ 5884, 5962 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 29, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "half_log_175_0", "driveway_umalys_0" ] ], "manipulating_object_id": [ "half_log_175_0" ], "spatial_prefix": [], "frame_duration": [ 5884, 5962 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 30, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "axe_173", "driveway_umalys_0" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 5962, 6363 ], "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": [ 0, 1817 ], "skill_idxes": [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9 ] }, { "primitive_idx": 1, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "axe_173", "log_177" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 1818, 3062 ], "skill_idxes": [ 10, 11, 12, 13, 14, 15 ] }, { "primitive_idx": 2, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "axe_173", "log_174" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 3062, 4419 ], "skill_idxes": [ 16, 17, 18, 19, 20, 21, 22 ] }, { "primitive_idx": 3, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "axe_173", "log_175" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 4419, 5962 ], "skill_idxes": [ 23, 24, 25, 26, 27, 28, 29 ] }, { "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": [ 5962, 6363 ], "skill_idxes": [ 30 ] } ] }