behavior1k-task0041 / annotations /episode_00000023.json
jadechoghari's picture
jadechoghari HF Staff
Add files using upload-large-folder tool
4996b65 verified
{
"task_name": "cook cabbage",
"data_folder": "",
"meta_data": {
"task_duration": 10560,
"valid_duration": [
18,
10578
]
},
"skill_annotation": [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"fridge_dszchb_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
18,
57
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 1,
"skill_id": [
10
],
"skill_description": [
"open door"
],
"object_id": [
[
"fridge_dszchb_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
57,
940
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 2,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"head_cabbage_212",
"fridge_dszchb_0"
]
],
"manipulating_object_id": [
"head_cabbage_212"
],
"spatial_prefix": [
[
"",
"middle_level"
]
],
"frame_duration": [
940,
1436
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 3,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"chili_211",
"fridge_dszchb_0"
]
],
"manipulating_object_id": [
"chili_211"
],
"spatial_prefix": [
[
"",
"high_level"
]
],
"frame_duration": [
1436,
1927
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 4,
"skill_id": [
12
],
"skill_description": [
"close door"
],
"object_id": [
[
"fridge_dszchb_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1927,
2808
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 5,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"cutting_board_210"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2808,
3243
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 6,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"head_cabbage_212",
"cutting_board_210"
]
],
"manipulating_object_id": [
"head_cabbage_212"
],
"spatial_prefix": [],
"frame_duration": [
3243,
3480
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 7,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"plate_207"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
3480,
3508
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 8,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"chili_211",
"plate_207"
]
],
"manipulating_object_id": [
"chili_211"
],
"spatial_prefix": [],
"frame_duration": [
3508,
3826
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 9,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"frying_pan_208",
"countertop_kelker_0"
]
],
"manipulating_object_id": [
"frying_pan_208"
],
"spatial_prefix": [],
"frame_duration": [
3826,
4313
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 10,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"burner_mjvqii_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
4313,
4527
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 11,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"frying_pan_208",
"burner_mjvqii_0"
]
],
"manipulating_object_id": [
"frying_pan_208"
],
"spatial_prefix": [
[
"",
"right"
]
],
"frame_duration": [
4527,
4682
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 12,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"carving_knife_209"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
4682,
4974
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 13,
"skill_id": [
93
],
"skill_description": [
"turn to"
],
"object_id": [
[
"carving_knife_209",
"robot"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [
[
"",
"face"
]
],
"frame_duration": [
4974,
5721
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 14,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"carving_knife_209",
"countertop_kelker_0"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
5721,
5931
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 15,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"carving_knife_209",
"countertop_kelker_0"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [
[
"",
"to_the_edge_of"
]
],
"frame_duration": [
5931,
6276
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 16,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"carving_knife_209",
"countertop_kelker_0"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
6276,
7068
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 17,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"head_cabbage_212"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
7068,
7172
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 18,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"carving_knife_209",
"head_cabbage_212"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
7172,
7575
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 19,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"carving_knife_209",
"half_head_cabbage_212_1"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
7575,
7642
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 20,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"carving_knife_209",
"half_head_cabbage_212_0"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
7642,
7812
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 21,
"skill_id": [
91
],
"skill_description": [
"place on next to"
],
"object_id": [
[
"carving_knife_209",
"countertop_kelker_0",
"cutting_board_210"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [
[
"",
"",
"right"
]
],
"frame_duration": [
7812,
7932
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 22,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"cutting_board_210",
"countertop_kelker_0"
]
],
"manipulating_object_id": [
"cutting_board_210"
],
"spatial_prefix": [],
"frame_duration": [
7932,
8243
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 23,
"skill_id": [
28
],
"skill_description": [
"pour"
],
"object_id": [
[
[
"diced__head_cabbage"
],
"cutting_board_210",
"frying_pan_208"
]
],
"manipulating_object_id": [
"cutting_board_210"
],
"spatial_prefix": [],
"frame_duration": [
8243,
8346
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 24,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"cutting_board_210",
"countertop_kelker_0"
]
],
"manipulating_object_id": [
"cutting_board_210"
],
"spatial_prefix": [
[
"",
"to_the_edge_of"
]
],
"frame_duration": [
8346,
8589
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 25,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"chili_211"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
8589,
8651
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 26,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"chili_211",
"plate_207"
]
],
"manipulating_object_id": [
"chili_211"
],
"spatial_prefix": [],
"frame_duration": [
8651,
8895
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 27,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"cutting_board_210"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
8895,
9009
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 28,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"chili_211",
"cutting_board_210"
]
],
"manipulating_object_id": [
"chili_211"
],
"spatial_prefix": [],
"frame_duration": [
9009,
9170
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 29,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"carving_knife_209",
"countertop_kelker_0"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
9170,
9477
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 30,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"carving_knife_209",
"chili_211"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
9477,
9600
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 31,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"carving_knife_209",
"half_chili_211_0"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
9600,
9696
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 32,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"carving_knife_209",
"half_chili_211_1"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
9696,
9792
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 33,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"carving_knife_209",
"countertop_kelker_0"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
9792,
9910
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 34,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"cutting_board_210",
"countertop_kelker_0"
]
],
"manipulating_object_id": [
"cutting_board_210"
],
"spatial_prefix": [],
"frame_duration": [
9919,
10079
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 35,
"skill_id": [
28
],
"skill_description": [
"pour"
],
"object_id": [
[
[
"diced__chili"
],
"cutting_board_210",
"frying_pan_208"
]
],
"manipulating_object_id": [
"cutting_board_210"
],
"spatial_prefix": [],
"frame_duration": [
10079,
10204
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 36,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"cutting_board_210",
"countertop_kelker_0"
]
],
"manipulating_object_id": [
"cutting_board_210"
],
"spatial_prefix": [],
"frame_duration": [
10204,
10345
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 37,
"skill_id": [
69
],
"skill_description": [
"turn on switch"
],
"object_id": [
[
"burner_mjvqii_0"
]
],
"manipulating_object_id": [
"burner_mjvqii_0"
],
"spatial_prefix": [],
"frame_duration": [
10345,
10578
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
],
"primitive_annotation": [
{
"primitive_idx": 0,
"primitive_id": [
10
],
"primitive_description": [
"open door"
],
"object_id": [
[
"fridge_dszchb_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
18,
940
],
"skill_idxes": [
0,
1
]
},
{
"primitive_idx": 1,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
[
"head_cabbage_212",
"chili_211"
],
"fridge_dszchb_0"
]
],
"manipulating_object_id": [
[
"head_cabbage_212",
"chili_211"
]
],
"spatial_prefix": [
[
[],
[
"middle_level",
"high_level"
]
]
],
"frame_duration": [
940,
1927
],
"skill_idxes": [
2,
3
]
},
{
"primitive_idx": 2,
"primitive_id": [
12
],
"primitive_description": [
"close door"
],
"object_id": [
[
"fridge_dszchb_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1927,
2808
],
"skill_idxes": [
4
]
},
{
"primitive_idx": 3,
"primitive_id": [
3
],
"primitive_description": [
"place on"
],
"object_id": [
[
"head_cabbage_212",
"cutting_board_210"
]
],
"manipulating_object_id": [
"head_cabbage_212"
],
"spatial_prefix": [],
"frame_duration": [
2808,
3480
],
"skill_idxes": [
5,
6
]
},
{
"primitive_idx": 4,
"primitive_id": [
3
],
"primitive_description": [
"place on"
],
"object_id": [
[
"chili_211",
"plate_207"
]
],
"manipulating_object_id": [
"chili_211"
],
"spatial_prefix": [],
"frame_duration": [
3480,
3826
],
"skill_idxes": [
7,
8
]
},
{
"primitive_idx": 5,
"primitive_id": [
2,
3
],
"primitive_description": [
"pick up from",
"place on"
],
"object_id": [
[
"frying_pan_208",
"countertop_kelker_0"
],
[
"frying_pan_208",
"burner_mjvqii_0"
]
],
"manipulating_object_id": [
"frying_pan_208",
"frying_pan_208"
],
"spatial_prefix": [
[],
[
[],
[
"right"
]
]
],
"frame_duration": [
3826,
4682
],
"skill_idxes": [
9,
10,
11
]
},
{
"primitive_idx": 6,
"primitive_id": [],
"primitive_description": [],
"object_id": [],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
4682,
6276
],
"skill_idxes": [
12,
13,
14,
15
]
},
{
"primitive_idx": 7,
"primitive_id": [
34
],
"primitive_description": [
"chop"
],
"object_id": [
[
"carving_knife_209",
[
"head_cabbage_212",
"half_head_cabbage_212_1",
"half_head_cabbage_212_0"
]
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
6276,
7932
],
"skill_idxes": [
16,
17,
18,
19,
20,
21
]
},
{
"primitive_idx": 8,
"primitive_id": [
28
],
"primitive_description": [
"pour"
],
"object_id": [
[
[
"diced__head_cabbage"
],
"cutting_board_210",
"frying_pan_208"
]
],
"manipulating_object_id": [
"cutting_board_210"
],
"spatial_prefix": [],
"frame_duration": [
7932,
8589
],
"skill_idxes": [
22,
23,
24
]
},
{
"primitive_idx": 9,
"primitive_id": [
2,
3
],
"primitive_description": [
"pick up from",
"place on"
],
"object_id": [
[
"chili_211",
"plate_207"
],
[
"chili_211",
"cutting_board_210"
]
],
"manipulating_object_id": [
"chili_211",
"chili_211"
],
"spatial_prefix": [],
"frame_duration": [
8589,
9170
],
"skill_idxes": [
25,
26,
27,
28
]
},
{
"primitive_idx": 10,
"primitive_id": [
34
],
"primitive_description": [
"chop"
],
"object_id": [
[
"carving_knife_209",
[
"chili_211",
"half_chili_211_0",
"half_chili_211_1"
]
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
9170,
9910
],
"skill_idxes": [
29,
30,
31,
32,
33
]
},
{
"primitive_idx": 11,
"primitive_id": [
28
],
"primitive_description": [
"pour"
],
"object_id": [
[
[
"diced__chili"
],
"cutting_board_210",
"frying_pan_208"
]
],
"manipulating_object_id": [
"cutting_board_210"
],
"spatial_prefix": [],
"frame_duration": [
9919,
10345
],
"skill_idxes": [
34,
35,
36
]
},
{
"primitive_idx": 12,
"primitive_id": [
69
],
"primitive_description": [
"turn on switch"
],
"object_id": [
[
"burner_mjvqii_0"
]
],
"manipulating_object_id": [
"burner_mjvqii_0"
],
"spatial_prefix": [],
"frame_duration": [
10345,
10578
],
"skill_idxes": [
37
]
}
]
}