{ "task_name": "chopping wood", "data_folder": "", "meta_data": { "task_duration": 16500, "valid_duration": [ 0, 16500 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "log_176" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 204 ], "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": [ 204, 942 ], "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": [ 942, 1236 ], "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": [ 1236, 1809 ], "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": [ 1809, 2376 ], "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": [ 2376, 3600 ], "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": [ 3600, 3918 ], "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": [ 3918, 4455 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "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": [ 4455, 4680 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 9, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "log_177" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4680, 5097 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 10, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "log_177", "driveway_umalys_0" ] ], "manipulating_object_id": [ "log_177" ], "spatial_prefix": [], "frame_duration": [ 5097, 6039 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "chopping_block_172" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6039, 6480 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 12, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "log_177", "chopping_block_172" ] ], "manipulating_object_id": [ "log_177" ], "spatial_prefix": [], "frame_duration": [ 6480, 7125 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "axe_173", "log_177" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 7125, 7473 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "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": [ 7473, 7632 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "log_174" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7632, 8268 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 16, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "log_174", "driveway_umalys_0" ] ], "manipulating_object_id": [ "log_174" ], "spatial_prefix": [], "frame_duration": [ 8268, 9138 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "chopping_block_172" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9138, 10068 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 18, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "log_174", "chopping_block_172" ] ], "manipulating_object_id": [ "log_174" ], "spatial_prefix": [], "frame_duration": [ 10068, 10980 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "axe_173", "log_174" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 10980, 11289 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "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": [ 11289, 11469 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 21, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "log_175" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11469, 12870 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 22, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "log_175", "driveway_umalys_0" ] ], "manipulating_object_id": [ "log_175" ], "spatial_prefix": [], "frame_duration": [ 12870, 13632 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 23, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "chopping_block_172" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 13632, 14283 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 24, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "log_175", "chopping_block_172" ] ], "manipulating_object_id": [ "log_175" ], "spatial_prefix": [], "frame_duration": [ 14283, 15243 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 25, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "axe_173", "log_175" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 15243, 15867 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 26, "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": [ 15867, 16041 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 27, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "axe_173", "driveway_umalys_0" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 16041, 16500 ], "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, 4680 ], "skill_idxes": [ 0, 1, 2, 3, 4, 5, 6, 7, 8 ] }, { "primitive_idx": 1, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "axe_173", "log_177" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 4680, 7632 ], "skill_idxes": [ 9, 10, 11, 12, 13, 14 ] }, { "primitive_idx": 2, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "axe_173", "log_174" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 7632, 11469 ], "skill_idxes": [ 15, 16, 17, 18, 19, 20 ] }, { "primitive_idx": 3, "primitive_id": [ 34 ], "primitive_description": [ "chop" ], "object_id": [ [ "axe_173", "log_175" ] ], "manipulating_object_id": [ "axe_173" ], "spatial_prefix": [], "frame_duration": [ 11469, 16041 ], "skill_idxes": [ 21, 22, 23, 24, 25, 26 ] }, { "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": [ 16041, 16500 ], "skill_idxes": [ 27 ] } ] }