behavior1k-task0041 / annotations /episode_00000052.json
jadechoghari's picture
jadechoghari HF Staff
Add files using upload-large-folder tool
8d78c04 verified
{
"task_name": "cook cabbage",
"data_folder": "",
"meta_data": {
"task_duration": 12222,
"valid_duration": [
42,
12264
]
},
"skill_annotation": [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"fridge_dszchb_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
42,
567
],
"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": [
567,
1629
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 2,
"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": [
1629,
2393
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 3,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"head_cabbage_212",
"fridge_dszchb_0"
]
],
"manipulating_object_id": [
"head_cabbage_212"
],
"spatial_prefix": [
[
"",
"high_level"
]
],
"frame_duration": [
2393,
2806
],
"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": [
2806,
3661
],
"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": [
3661,
3835
],
"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": [
3835,
4395
],
"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": [
4398,
4509
],
"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": [
4509,
4903
],
"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": [
4903,
5418
],
"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": [
5418,
5496
],
"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": [
5496,
5808
],
"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": [
5808,
6036
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 13,
"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": [
6036,
6390
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 14,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"head_cabbage_212"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
6390,
6597
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 15,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"carving_knife_209",
"head_cabbage_212"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
6597,
6957
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 16,
"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": [
6957,
7200
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 17,
"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": [
6957,
7200
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 18,
"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": [
[
"",
"",
"left"
]
],
"frame_duration": [
7200,
7341
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 19,
"skill_id": [
90
],
"skill_description": [
"push to"
],
"object_id": [
[
"cutting_board_210",
"countertop_kelker_0"
]
],
"manipulating_object_id": [
"cutting_board_210"
],
"spatial_prefix": [
[
"",
"to_the_edge_of"
]
],
"frame_duration": [
7341,
7674
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 20,
"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": [
7674,
8140
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 21,
"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": [
8140,
8344
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 22,
"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": [
8344,
8793
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 23,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"chili_211"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
8793,
8931
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 24,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"chili_211",
"plate_207"
]
],
"manipulating_object_id": [
"chili_211"
],
"spatial_prefix": [],
"frame_duration": [
8931,
9551
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 25,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"cutting_board_210"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
9551,
9770
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 26,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"chili_211",
"cutting_board_210"
]
],
"manipulating_object_id": [
"chili_211"
],
"spatial_prefix": [],
"frame_duration": [
9770,
10066
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 27,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"carving_knife_209"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
10072,
10111
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 28,
"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": [
10111,
10504
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 29,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"carving_knife_209",
"chili_211"
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
10504,
10752
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 30,
"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": [
10752,
10812
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 31,
"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": [
10812,
10887
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 32,
"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": [
10887,
10980
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 33,
"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": [
10980,
11378
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 34,
"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": [
11378,
11528
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 35,
"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": [
11528,
11816
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 36,
"skill_id": [
69
],
"skill_description": [
"turn on switch"
],
"object_id": [
[
"burner_mjvqii_0"
]
],
"manipulating_object_id": [
"burner_mjvqii_0"
],
"spatial_prefix": [],
"frame_duration": [
11816,
12264
],
"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": [
42,
1629
],
"skill_idxes": [
0,
1
]
},
{
"primitive_idx": 1,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
[
"chili_211",
"head_cabbage_212"
],
"fridge_dszchb_0"
]
],
"manipulating_object_id": [
[
"chili_211",
"head_cabbage_212"
]
],
"spatial_prefix": [
[
[],
[
"high_level",
"high_level"
]
]
],
"frame_duration": [
1629,
2806
],
"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": [
2806,
3661
],
"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": [
3661,
4395
],
"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": [
4398,
4903
],
"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": [
4903,
5808
],
"skill_idxes": [
9,
10,
11
]
},
{
"primitive_idx": 6,
"primitive_id": [
34
],
"primitive_description": [
"chop"
],
"object_id": [
[
"carving_knife_209",
[
"head_cabbage_212",
"half_head_cabbage_212_0",
"half_head_cabbage_212_1"
]
]
],
"manipulating_object_id": [
"carving_knife_209"
],
"spatial_prefix": [],
"frame_duration": [
5808,
7341
],
"skill_idxes": [
12,
13,
14,
15,
16,
17,
18
]
},
{
"primitive_idx": 7,
"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": [
7341,
8793
],
"skill_idxes": [
19,
20,
21,
22
]
},
{
"primitive_idx": 8,
"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": [
8793,
10066
],
"skill_idxes": [
23,
24,
25,
26
]
},
{
"primitive_idx": 9,
"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": [
10072,
10980
],
"skill_idxes": [
27,
28,
29,
30,
31,
32
]
},
{
"primitive_idx": 10,
"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": [
10980,
11816
],
"skill_idxes": [
33,
34,
35
]
},
{
"primitive_idx": 11,
"primitive_id": [
69
],
"primitive_description": [
"turn on switch"
],
"object_id": [
[
"burner_mjvqii_0"
]
],
"manipulating_object_id": [
"burner_mjvqii_0"
],
"spatial_prefix": [],
"frame_duration": [
11816,
12264
],
"skill_idxes": [
36
]
}
]
}