{ "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 ] } ] }