behavior1k-task0042 / annotations /episode_00000042.json
jadechoghari's picture
jadechoghari HF Staff
Add files using upload-large-folder tool
19b6fba verified
{
"task_name": "chop an onion",
"data_folder": "",
"meta_data": {
"task_duration": 6762,
"valid_duration": [
122,
6884
]
},
"skill_annotation": [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"cutting_board_76"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
122,
865
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 1,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"cutting_board_76",
"bar_egwapq_0"
]
],
"manipulating_object_id": [
"cutting_board_76"
],
"spatial_prefix": [],
"frame_duration": [
865,
1733
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 2,
"skill_id": [
91
],
"skill_description": [
"place on next to"
],
"object_id": [
[
"cutting_board_76",
"bar_egwapq_0",
"drop_in_sink_lkklqs_0"
]
],
"manipulating_object_id": [
"cutting_board_76"
],
"spatial_prefix": [
[
"",
"",
"left"
]
],
"frame_duration": [
1733,
2250
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 3,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"vidalia_onion_75"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2250,
2351
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 4,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"vidalia_onion_75",
"drop_in_sink_lkklqs_0"
]
],
"manipulating_object_id": [
"vidalia_onion_75"
],
"spatial_prefix": [],
"frame_duration": [
2351,
2724
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 5,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"cutting_board_76"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2724,
2814
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 6,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"vidalia_onion_75",
"cutting_board_76"
]
],
"manipulating_object_id": [
"vidalia_onion_75"
],
"spatial_prefix": [],
"frame_duration": [
2814,
3146
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 7,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"parer_74"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
3146,
3264
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 8,
"skill_id": [
93
],
"skill_description": [
"turn to"
],
"object_id": [
[
"parer_74",
"robot"
]
],
"manipulating_object_id": [
"parer_74"
],
"spatial_prefix": [
[
"",
"face_away"
]
],
"frame_duration": [
3264,
3809
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 9,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"parer_74",
"bar_egwapq_0"
]
],
"manipulating_object_id": [
"parer_74"
],
"spatial_prefix": [],
"frame_duration": [
3809,
4346
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 10,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"vidalia_onion_75"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
4346,
4511
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 11,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"parer_74",
"vidalia_onion_75"
]
],
"manipulating_object_id": [
"parer_74"
],
"spatial_prefix": [],
"frame_duration": [
4511,
4737
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 12,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"parer_74",
"half_vidalia_onion_75_0"
]
],
"manipulating_object_id": [
"parer_74"
],
"spatial_prefix": [],
"frame_duration": [
4737,
4885
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 13,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"parer_74",
"half_vidalia_onion_75_1"
]
],
"manipulating_object_id": [
"parer_74"
],
"spatial_prefix": [],
"frame_duration": [
4885,
5069
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 14,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"parer_74",
"drop_in_sink_lkklqs_0"
]
],
"manipulating_object_id": [
"parer_74"
],
"spatial_prefix": [],
"frame_duration": [
5069,
5313
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 15,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"cutting_board_76",
"bar_egwapq_0"
]
],
"manipulating_object_id": [
"cutting_board_76"
],
"spatial_prefix": [],
"frame_duration": [
5313,
5750
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 16,
"skill_id": [
28
],
"skill_description": [
"pour"
],
"object_id": [
[
[
"diced__vidalia_onion"
],
"cutting_board_76",
"bowl_73"
]
],
"manipulating_object_id": [
"cutting_board_76"
],
"spatial_prefix": [],
"frame_duration": [
5750,
6193
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 17,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"drop_in_sink_lkklqs_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
6193,
6280
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 18,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"cutting_board_76",
"drop_in_sink_lkklqs_0"
]
],
"manipulating_object_id": [
"cutting_board_76"
],
"spatial_prefix": [],
"frame_duration": [
6280,
6884
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
],
"primitive_annotation": [
{
"primitive_idx": 0,
"primitive_id": [
2,
91
],
"primitive_description": [
"pick up from",
"place on next to"
],
"object_id": [
[
"cutting_board_76",
"bar_egwapq_0"
],
[
"cutting_board_76",
"bar_egwapq_0",
"drop_in_sink_lkklqs_0"
]
],
"manipulating_object_id": [
"cutting_board_76",
"cutting_board_76"
],
"spatial_prefix": [
[],
[
[],
[],
[
"left"
]
]
],
"frame_duration": [
122,
2250
],
"skill_idxes": [
0,
1,
2
]
},
{
"primitive_idx": 1,
"primitive_id": [
2,
3
],
"primitive_description": [
"pick up from",
"place on"
],
"object_id": [
[
"vidalia_onion_75",
"drop_in_sink_lkklqs_0"
],
[
"vidalia_onion_75",
"cutting_board_76"
]
],
"manipulating_object_id": [
"vidalia_onion_75",
"vidalia_onion_75"
],
"spatial_prefix": [],
"frame_duration": [
2250,
3146
],
"skill_idxes": [
3,
4,
5,
6
]
},
{
"primitive_idx": 2,
"primitive_id": [
34
],
"primitive_description": [
"chop"
],
"object_id": [
[
"parer_74",
[
"vidalia_onion_75",
"half_vidalia_onion_75_0",
"half_vidalia_onion_75_1"
]
]
],
"manipulating_object_id": [
"parer_74"
],
"spatial_prefix": [],
"frame_duration": [
3146,
5313
],
"skill_idxes": [
7,
8,
9,
10,
11,
12,
13,
14
]
},
{
"primitive_idx": 3,
"primitive_id": [
28
],
"primitive_description": [
"pour"
],
"object_id": [
[
[
"diced__vidalia_onion"
],
"cutting_board_76",
"bowl_73"
]
],
"manipulating_object_id": [
"cutting_board_76"
],
"spatial_prefix": [],
"frame_duration": [
5313,
6884
],
"skill_idxes": [
15,
16,
17,
18
]
}
]
}