| { | |
| "task_name": "chopping wood", | |
| "data_folder": "", | |
| "meta_data": { | |
| "task_duration": 11701, | |
| "valid_duration": [60, 11761] | |
| }, | |
| "skill_annotation": [ | |
| { | |
| "skill_idx": 0, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["log_174"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [60, 456], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 1, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["log_174", "driveway_umalys_0"]], | |
| "manipulating_object_id": ["log_174"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [457, 1032], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 2, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["chopping_block_172"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [1032, 1386], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 3, | |
| "skill_id": [3], | |
| "skill_description": ["place on"], | |
| "object_id": [["log_174", "chopping_block_172"]], | |
| "manipulating_object_id": ["log_174"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [1386, 1695], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 4, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["axe_173"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [1695, 2490], | |
| "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"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [2490, 3054], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 6, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["log_174"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [3054, 3630], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 7, | |
| "skill_id": [34], | |
| "skill_description": ["chop"], | |
| "object_id": [["axe_173", "log_174"]], | |
| "manipulating_object_id": ["axe_173"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [3630, 3991], | |
| "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"]], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [4050, 4350], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 9, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["log_175"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [4353, 5010], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 10, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["log_175", "driveway_umalys_0"]], | |
| "manipulating_object_id": ["log_175"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [5010, 5480], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 11, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["chopping_block_172"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [5480, 6135], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 12, | |
| "skill_id": [3], | |
| "skill_description": ["place on"], | |
| "object_id": [["log_175", "chopping_block_172"]], | |
| "manipulating_object_id": ["log_175"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [6135, 6507], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 13, | |
| "skill_id": [34], | |
| "skill_description": ["chop"], | |
| "object_id": [["axe_173", "log_175"]], | |
| "manipulating_object_id": ["axe_173"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [6507, 6867], | |
| "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"]], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [6867, 7251], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 15, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["log_176"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [7251, 7561], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 16, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["log_176", "driveway_umalys_0"]], | |
| "manipulating_object_id": ["log_176"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [7563, 8045], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 17, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["chopping_block_172"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [8045, 8323], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 18, | |
| "skill_id": [3], | |
| "skill_description": ["place on"], | |
| "object_id": [["log_176", "chopping_block_172"]], | |
| "manipulating_object_id": ["log_176"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [8323, 8561], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 19, | |
| "skill_id": [34], | |
| "skill_description": ["chop"], | |
| "object_id": [["axe_173", "log_176"]], | |
| "manipulating_object_id": ["axe_173"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [8561, 8847], | |
| "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"]], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [8847, 9076], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 21, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["log_177"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [9076, 9378], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 22, | |
| "skill_id": [2], | |
| "skill_description": ["pick up from"], | |
| "object_id": [["log_177", "driveway_umalys_0"]], | |
| "manipulating_object_id": ["log_177"], | |
| "memory_prefix": ["the other"], | |
| "spatial_prefix": [], | |
| "frame_duration": [9378, 9894], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 23, | |
| "skill_id": [1], | |
| "skill_description": ["move to"], | |
| "object_id": [["chopping_block_172"]], | |
| "manipulating_object_id": [], | |
| "memory_prefix": ["back"], | |
| "spatial_prefix": [], | |
| "frame_duration": [9894, 10054], | |
| "mp_ef": [], | |
| "skill_type": ["navigation"] | |
| }, | |
| { | |
| "skill_idx": 24, | |
| "skill_id": [3], | |
| "skill_description": ["place on"], | |
| "object_id": [["log_177", "chopping_block_172"]], | |
| "manipulating_object_id": ["log_177"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [10054, 10455], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| }, | |
| { | |
| "skill_idx": 25, | |
| "skill_id": [34], | |
| "skill_description": ["chop"], | |
| "object_id": [["axe_173", "log_177"]], | |
| "manipulating_object_id": ["axe_173"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [10455, 10755], | |
| "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"]], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [10755, 10997], | |
| "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"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [11010, 11761], | |
| "mp_ef": [], | |
| "skill_type": ["uncoordinated"] | |
| } | |
| ], | |
| "primitive_annotation": [ | |
| { | |
| "primitive_idx": 0, | |
| "primitive_id": [34], | |
| "primitive_description": ["chop"], | |
| "object_id": [["axe_173", "log_174"]], | |
| "manipulating_object_id": ["axe_173"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [60, 4350], | |
| "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_175"]], | |
| "manipulating_object_id": ["axe_173"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [4353, 7251], | |
| "skill_idxes": [9, 10, 11, 12, 13, 14] | |
| }, | |
| { | |
| "primitive_idx": 2, | |
| "primitive_id": [34], | |
| "primitive_description": ["chop"], | |
| "object_id": [["axe_173", "log_176"]], | |
| "manipulating_object_id": ["axe_173"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [7251, 9076], | |
| "skill_idxes": [15, 16, 17, 18, 19, 20] | |
| }, | |
| { | |
| "primitive_idx": 3, | |
| "primitive_id": [34], | |
| "primitive_description": ["chop"], | |
| "object_id": [["axe_173", "log_177"]], | |
| "manipulating_object_id": ["axe_173"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [9076, 10997], | |
| "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"], | |
| "memory_prefix": [], | |
| "spatial_prefix": [], | |
| "frame_duration": [11010, 11761], | |
| "skill_idxes": [27] | |
| } | |
| ] | |
| } |