{ "task_name": "chop an onion", "data_folder": "", "meta_data": { "task_duration": 4902, "valid_duration": [ 93, 4995 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "cutting_board_76" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 93, 405 ], "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": [ 405, 938 ], "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": [ 938, 1254 ], "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": [ 1254, 1388 ], "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": [ 1388, 1815 ], "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": [ 1815, 1869 ], "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": [ 1869, 2190 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 7, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "parer_74", "bar_egwapq_0" ] ], "manipulating_object_id": [ "parer_74" ], "spatial_prefix": [], "frame_duration": [ 2190, 2920 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "vidalia_onion_75" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2920, 3063 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 9, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_74", "vidalia_onion_75" ] ], "manipulating_object_id": [ "parer_74" ], "spatial_prefix": [], "frame_duration": [ 3063, 3257 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_74", "half_vidalia_onion_75_0" ] ], "manipulating_object_id": [ "parer_74" ], "spatial_prefix": [], "frame_duration": [ 3257, 3317 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 11, "skill_id": [ 34 ], "skill_description": [ "chop" ], "object_id": [ [ "parer_74", "half_vidalia_onion_75_1" ] ], "manipulating_object_id": [ "parer_74" ], "spatial_prefix": [], "frame_duration": [ 3317, 3380 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "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": [ 3380, 3527 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 13, "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": [ 3527, 3818 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bowl_73" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3818, 3949 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 15, "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": [ 3949, 4386 ], "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": [ 4386, 4488 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 17, "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": [ 4488, 4995 ], "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": [ 93, 1254 ], "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": [ 1254, 2190 ], "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": [ 2190, 3527 ], "skill_idxes": [ 7, 8, 9, 10, 11, 12 ] }, { "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": [ 3527, 4995 ], "skill_idxes": [ 13, 14, 15, 16, 17 ] } ] }