behavior1k-task0003 / annotations /episode_00000021.json
jadechoghari's picture
jadechoghari HF Staff
Add files using upload-large-folder tool
ac36c07 verified
{
"task_name": "cleaning up plates and food",
"data_folder": "",
"meta_data": {
"task_duration": 9959,
"valid_duration": [
0,
9959
]
},
"skill_annotation": [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"fridge_petcxr_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
0,
604
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 1,
"skill_id": [
10
],
"skill_description": [
"open door"
],
"object_id": [
[
"fridge_petcxr_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [
[
"right_door"
]
],
"frame_duration": [
604,
1356
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 2,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"plate_93"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1357,
1494
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 3,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"plate_93",
"breakfast_table_xftrki_0"
]
],
"manipulating_object_id": [
"plate_93"
],
"spatial_prefix": [],
"frame_duration": [
1494,
2793
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 4,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"fridge_petcxr_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2793,
2943
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 5,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"plate_93",
"fridge_petcxr_0"
]
],
"manipulating_object_id": [
"plate_93"
],
"spatial_prefix": [
[
"",
"layer_5"
]
],
"frame_duration": [
2943,
3247
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 6,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"plate_94"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
3247,
3856
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 7,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"plate_94",
"breakfast_table_xftrki_0"
]
],
"manipulating_object_id": [
"plate_94"
],
"spatial_prefix": [],
"frame_duration": [
3856,
4885
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 8,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"fridge_petcxr_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
4885,
5360
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 9,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"plate_94",
"fridge_petcxr_0"
]
],
"manipulating_object_id": [
"plate_94"
],
"spatial_prefix": [
[
"",
"layer_4"
]
],
"frame_duration": [
5360,
5586
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 10,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"fridge_petcxr_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
5587,
6960
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 11,
"skill_id": [
12
],
"skill_description": [
"close door"
],
"object_id": [
[
"fridge_petcxr_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [
[
"right_door"
]
],
"frame_duration": [
6993,
7231
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 12,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"bowl_91"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
7231,
7573
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 13,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"bowl_91",
"breakfast_table_xftrki_0"
]
],
"manipulating_object_id": [
"bowl_91"
],
"spatial_prefix": [],
"frame_duration": [
7573,
7785
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 14,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"bowl_92"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
7785,
8345
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 15,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"bowl_92",
"breakfast_table_xftrki_0"
]
],
"manipulating_object_id": [
"bowl_92"
],
"spatial_prefix": [],
"frame_duration": [
8345,
9052
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 16,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"drop_in_sink_lkklqs_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
9053,
9260
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 17,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"bowl_91",
"drop_in_sink_lkklqs_0"
]
],
"manipulating_object_id": [
"bowl_91"
],
"spatial_prefix": [],
"frame_duration": [
9260,
9668
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 18,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"bowl_92",
"drop_in_sink_lkklqs_0"
]
],
"manipulating_object_id": [
"bowl_92"
],
"spatial_prefix": [],
"frame_duration": [
9668,
9959
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
],
"primitive_annotation": [
{
"primitive_idx": 0,
"primitive_id": [
10
],
"primitive_description": [
"open door"
],
"object_id": [
[
"fridge_petcxr_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [
[
[
"right_door"
]
]
],
"frame_duration": [
0,
1356
],
"skill_idxes": [
0,
1
]
},
{
"primitive_idx": 1,
"primitive_id": [
2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
"plate_93",
"breakfast_table_xftrki_0"
],
[
"plate_93",
"fridge_petcxr_0"
]
],
"manipulating_object_id": [
"plate_93",
"plate_93"
],
"spatial_prefix": [
[],
[
[],
[
"layer_5"
]
]
],
"frame_duration": [
1357,
3247
],
"skill_idxes": [
2,
3,
4,
5
]
},
{
"primitive_idx": 2,
"primitive_id": [
2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
"plate_94",
"breakfast_table_xftrki_0"
],
[
"plate_94",
"fridge_petcxr_0"
]
],
"manipulating_object_id": [
"plate_94",
"plate_94"
],
"spatial_prefix": [
[],
[
[],
[
"layer_4"
]
]
],
"frame_duration": [
3247,
5586
],
"skill_idxes": [
6,
7,
8,
9
]
},
{
"primitive_idx": 3,
"primitive_id": [
12
],
"primitive_description": [
"close door"
],
"object_id": [
[
"fridge_petcxr_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [
[
[
"right_door"
]
]
],
"frame_duration": [
5587,
7231
],
"skill_idxes": [
10,
11
]
},
{
"primitive_idx": 4,
"primitive_id": [
2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
[
"bowl_91",
"bowl_92"
],
"breakfast_table_xftrki_0"
],
[
[
"bowl_91",
"bowl_92"
],
"drop_in_sink_lkklqs_0"
]
],
"manipulating_object_id": [
[
"bowl_91",
"bowl_92"
],
[
"bowl_91",
"bowl_92"
]
],
"spatial_prefix": [],
"frame_duration": [
7231,
9959
],
"skill_idxes": [
12,
13,
14,
15,
16,
17,
18
]
}
]
}