behavior1k-task0048 / annotations /episode_00000066.json
jadechoghari's picture
jadechoghari HF Staff
Add files using upload-large-folder tool
c90b08d verified
{
"task_name": "canning food",
"data_folder": "",
"meta_data": {
"task_duration": 23676,
"valid_duration": [
54,
23730
]
},
"skill_annotation": [
{
"skill_idx": 0,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"carving_knife_207"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
54,
177
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 1,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"carving_knife_207",
"cutting_board_208"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [],
"frame_duration": [
177,
510
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 2,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"cutting_board_208",
"countertop_kelzer_0"
]
],
"manipulating_object_id": [
"cutting_board_208"
],
"spatial_prefix": [],
"frame_duration": [
510,
948
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 3,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
948,
1083
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 4,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"cutting_board_208",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"cutting_board_208"
],
"spatial_prefix": [],
"frame_duration": [
1083,
1419
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 5,
"skill_id": [
91
],
"skill_description": [
"place on next to"
],
"object_id": [
[
"carving_knife_207",
"countertop_kelzer_0",
"cutting_board_208"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [
[
"",
"",
"right"
]
],
"frame_duration": [
1419,
1740
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 6,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"fridge_dszchb_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1740,
2208
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 7,
"skill_id": [
10
],
"skill_description": [
"open door"
],
"object_id": [
[
"fridge_dszchb_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
2208,
2985
],
"mp_ef": [],
"skill_type": [
"coordinated"
]
},
{
"skill_idx": 8,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"steak_212",
"fridge_dszchb_0"
]
],
"manipulating_object_id": [
"steak_212"
],
"spatial_prefix": [
[
"",
"low_level"
]
],
"frame_duration": [
2985,
3789
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 9,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"pineapple_211",
"fridge_dszchb_0"
]
],
"manipulating_object_id": [
"pineapple_211"
],
"spatial_prefix": [
[
"",
"middle_level"
]
],
"frame_duration": [
3789,
4425
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 10,
"skill_id": [
12
],
"skill_description": [
"close door"
],
"object_id": [
[
"fridge_dszchb_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
4425,
5550
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 11,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"cutting_board_208"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
5550,
6108
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 12,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"steak_212",
"cutting_board_208"
]
],
"manipulating_object_id": [
"steak_212"
],
"spatial_prefix": [],
"frame_duration": [
6108,
6258
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 13,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"pineapple_211",
"countertop_kelzer_0"
]
],
"manipulating_object_id": [
"pineapple_211"
],
"spatial_prefix": [],
"frame_duration": [
6258,
6513
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 14,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"carving_knife_207"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
6513,
6540
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 15,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"carving_knife_207",
"countertop_kelzer_0"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [],
"frame_duration": [
6540,
6852
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 16,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"steak_212"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
6852,
6882
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 17,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"carving_knife_207",
"steak_212"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [],
"frame_duration": [
6882,
6951
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 18,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"carving_knife_207",
"half_steak_212_0"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [],
"frame_duration": [
6951,
7035
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 19,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"carving_knife_207",
"half_steak_212_1"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [],
"frame_duration": [
7035,
7101
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 20,
"skill_id": [
91
],
"skill_description": [
"place on next to"
],
"object_id": [
[
"carving_knife_207",
"countertop_kelzer_0",
"cutting_board_208"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [
[
"",
"",
"right"
]
],
"frame_duration": [
7101,
7338
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 21,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
7338,
8043
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 22,
"skill_id": [
10
],
"skill_description": [
"open door"
],
"object_id": [
[
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [
[
"left_door"
]
],
"frame_duration": [
8043,
8673
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 23,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"bowl_209",
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [
"bowl_209"
],
"spatial_prefix": [
[
"",
"layer_4"
]
],
"frame_duration": [
8673,
9378
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 24,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"bowl_210",
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [
"bowl_210"
],
"spatial_prefix": [
[
"",
"layer_5"
]
],
"frame_duration": [
9378,
10128
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 25,
"skill_id": [
12
],
"skill_description": [
"close door"
],
"object_id": [
[
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [
[
"left_door"
]
],
"frame_duration": [
10128,
10953
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 26,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"countertop_kelzer_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
10953,
11868
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 27,
"skill_id": [
91
],
"skill_description": [
"place on next to"
],
"object_id": [
[
"bowl_210",
"countertop_kelzer_0",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"bowl_210"
],
"spatial_prefix": [
[
"",
"",
"right"
]
],
"frame_duration": [
11868,
12165
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 28,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"bowl_209",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"bowl_209"
],
"spatial_prefix": [],
"frame_duration": [
12165,
12531
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 29,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"cutting_board_208"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
12531,
12609
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 30,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"cutting_board_208",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"cutting_board_208"
],
"spatial_prefix": [],
"frame_duration": [
12609,
12816
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 31,
"skill_id": [
28
],
"skill_description": [
"pour"
],
"object_id": [
[
[
"diced__steak"
],
"cutting_board_208",
"bowl_209"
]
],
"manipulating_object_id": [
"cutting_board_208"
],
"spatial_prefix": [],
"frame_duration": [
12816,
13098
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 32,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"cutting_board_208",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"cutting_board_208"
],
"spatial_prefix": [],
"frame_duration": [
13098,
13296
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 33,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"bowl_209"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
13296,
13338
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 34,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"bowl_209",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"bowl_209"
],
"spatial_prefix": [],
"frame_duration": [
13338,
13587
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 35,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
13587,
14265
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 36,
"skill_id": [
10
],
"skill_description": [
"open door"
],
"object_id": [
[
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [
[
"left_door"
]
],
"frame_duration": [
14265,
15081
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 37,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"bowl_209",
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [
"bowl_209"
],
"spatial_prefix": [
[
"",
"layer_4"
]
],
"frame_duration": [
15081,
15957
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 38,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"pineapple_211"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
15957,
16524
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 39,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"pineapple_211",
"countertop_kelzer_0"
]
],
"manipulating_object_id": [
"pineapple_211"
],
"spatial_prefix": [],
"frame_duration": [
16524,
16917
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 40,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"cutting_board_208"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
16917,
16962
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 41,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"pineapple_211",
"cutting_board_208"
]
],
"manipulating_object_id": [
"pineapple_211"
],
"spatial_prefix": [],
"frame_duration": [
16962,
17295
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 42,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"carving_knife_207"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
17295,
17337
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 43,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"carving_knife_207",
"countertop_kelzer_0"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [],
"frame_duration": [
17337,
17562
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 44,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"carving_knife_207",
"pineapple_211"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [],
"frame_duration": [
17562,
17682
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 45,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"half_pineapple_211_1",
"cutting_board_208"
]
],
"manipulating_object_id": [
"half_pineapple_211_1"
],
"spatial_prefix": [],
"frame_duration": [
17682,
17946
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 46,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"half_pineapple_211_1",
"countertop_kelzer_0"
]
],
"manipulating_object_id": [
"half_pineapple_211_1"
],
"spatial_prefix": [],
"frame_duration": [
17946,
18003
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 47,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"carving_knife_207",
"half_pineapple_211_0"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [],
"frame_duration": [
18003,
18228
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 48,
"skill_id": [
91
],
"skill_description": [
"place on next to"
],
"object_id": [
[
"carving_knife_207",
"countertop_kelzer_0",
"cutting_board_208"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [
[
"",
"",
"right"
]
],
"frame_duration": [
18228,
18423
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 49,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"bowl_210",
"countertop_kelzer_0"
]
],
"manipulating_object_id": [
"bowl_210"
],
"spatial_prefix": [],
"frame_duration": [
18423,
18636
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 50,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"bowl_210",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"bowl_210"
],
"spatial_prefix": [],
"frame_duration": [
18636,
18993
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 51,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"cutting_board_208",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"cutting_board_208"
],
"spatial_prefix": [],
"frame_duration": [
18993,
19518
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 52,
"skill_id": [
28
],
"skill_description": [
"pour"
],
"object_id": [
[
[
"diced__pineapple"
],
"cutting_board_208",
"bowl_210"
]
],
"manipulating_object_id": [
"cutting_board_208"
],
"spatial_prefix": [],
"frame_duration": [
19518,
20238
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 53,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"cutting_board_208",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"cutting_board_208"
],
"spatial_prefix": [],
"frame_duration": [
20238,
20361
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 54,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"half_pineapple_211_1",
"countertop_kelzer_0"
]
],
"manipulating_object_id": [
"half_pineapple_211_1"
],
"spatial_prefix": [],
"frame_duration": [
20361,
20514
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 55,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"half_pineapple_211_1",
"cutting_board_208"
]
],
"manipulating_object_id": [
"half_pineapple_211_1"
],
"spatial_prefix": [],
"frame_duration": [
20514,
20664
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 56,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"carving_knife_207",
"countertop_kelzer_0"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [],
"frame_duration": [
20664,
20793
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 57,
"skill_id": [
34
],
"skill_description": [
"chop"
],
"object_id": [
[
"carving_knife_207",
"half_pineapple_211_1"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [],
"frame_duration": [
20793,
20865
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 58,
"skill_id": [
91
],
"skill_description": [
"place on next to"
],
"object_id": [
[
"carving_knife_207",
"countertop_kelzer_0",
"cutting_board_208"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [
[
"",
"",
"right"
]
],
"frame_duration": [
20865,
21045
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 59,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"cutting_board_208"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
21045,
21090
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 60,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"cutting_board_208",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"cutting_board_208"
],
"spatial_prefix": [],
"frame_duration": [
21090,
21288
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 61,
"skill_id": [
28
],
"skill_description": [
"pour"
],
"object_id": [
[
[
"diced__pineapple"
],
"cutting_board_208",
"bowl_210"
]
],
"manipulating_object_id": [
"cutting_board_208"
],
"spatial_prefix": [],
"frame_duration": [
21288,
21471
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 62,
"skill_id": [
3
],
"skill_description": [
"place on"
],
"object_id": [
[
"cutting_board_208",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"cutting_board_208"
],
"spatial_prefix": [],
"frame_duration": [
21471,
21708
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 63,
"skill_id": [
2
],
"skill_description": [
"pick up from"
],
"object_id": [
[
"bowl_210",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"bowl_210"
],
"spatial_prefix": [],
"frame_duration": [
21708,
22128
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 64,
"skill_id": [
1
],
"skill_description": [
"move to"
],
"object_id": [
[
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
22128,
22662
],
"mp_ef": [],
"skill_type": [
"navigation"
]
},
{
"skill_idx": 65,
"skill_id": [
4
],
"skill_description": [
"place in"
],
"object_id": [
[
"bowl_210",
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [
"bowl_210"
],
"spatial_prefix": [
[
"",
"layer_3"
]
],
"frame_duration": [
22662,
23286
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
},
{
"skill_idx": 66,
"skill_id": [
12
],
"skill_description": [
"close door"
],
"object_id": [
[
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [
[
"left_door"
]
],
"frame_duration": [
23286,
23730
],
"mp_ef": [],
"skill_type": [
"uncoordinated"
]
}
],
"primitive_annotation": [
{
"primitive_idx": 0,
"primitive_id": [
2,
3,
91
],
"primitive_description": [
"pick up from",
"place on",
"place on next to"
],
"object_id": [
[
[
"carving_knife_207",
"cutting_board_208"
],
[
"cutting_board_208",
"countertop_kelzer_0"
]
],
[
"cutting_board_208",
"drop_in_sink_awvzkn_0"
],
[
"carving_knife_207",
"countertop_kelzer_0",
"cutting_board_208"
]
],
"manipulating_object_id": [
[
"carving_knife_207",
"cutting_board_208"
],
"cutting_board_208",
"carving_knife_207"
],
"spatial_prefix": [
[],
[],
[
[],
[],
[
"right"
]
]
],
"frame_duration": [
54,
1740
],
"skill_idxes": [
0,
1,
2,
3,
4,
5
]
},
{
"primitive_idx": 1,
"primitive_id": [
10
],
"primitive_description": [
"open door"
],
"object_id": [
[
"fridge_dszchb_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
1740,
2985
],
"skill_idxes": [
6,
7
]
},
{
"primitive_idx": 2,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
[
"steak_212",
"pineapple_211"
],
"fridge_dszchb_0"
]
],
"manipulating_object_id": [
[
"steak_212",
"pineapple_211"
]
],
"spatial_prefix": [
[
[],
[
"low_level",
"middle_level"
]
]
],
"frame_duration": [
2985,
4425
],
"skill_idxes": [
8,
9
]
},
{
"primitive_idx": 3,
"primitive_id": [
12
],
"primitive_description": [
"close door"
],
"object_id": [
[
"fridge_dszchb_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [],
"frame_duration": [
4425,
5550
],
"skill_idxes": [
10
]
},
{
"primitive_idx": 4,
"primitive_id": [
3
],
"primitive_description": [
"place on"
],
"object_id": [
[
[
"steak_212",
"pineapple_211"
],
[
"cutting_board_208",
"countertop_kelzer_0"
]
]
],
"manipulating_object_id": [
[
"steak_212",
"pineapple_211"
]
],
"spatial_prefix": [],
"frame_duration": [
5550,
6513
],
"skill_idxes": [
11,
12,
13
]
},
{
"primitive_idx": 5,
"primitive_id": [
34
],
"primitive_description": [
"chop"
],
"object_id": [
[
"carving_knife_207",
[
"steak_212",
"half_steak_212_0",
"half_steak_212_1"
]
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [],
"frame_duration": [
6513,
7338
],
"skill_idxes": [
14,
15,
16,
17,
18,
19,
20
]
},
{
"primitive_idx": 6,
"primitive_id": [
10
],
"primitive_description": [
"open door"
],
"object_id": [
[
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [
[
[
"left_door"
]
]
],
"frame_duration": [
7338,
8673
],
"skill_idxes": [
21,
22
]
},
{
"primitive_idx": 7,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
[
"bowl_209",
"bowl_210"
],
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [
[
"bowl_209",
"bowl_210"
]
],
"spatial_prefix": [
[
[],
[
"layer_4",
"layer_5"
]
]
],
"frame_duration": [
8673,
10128
],
"skill_idxes": [
23,
24
]
},
{
"primitive_idx": 8,
"primitive_id": [
12
],
"primitive_description": [
"close door"
],
"object_id": [
[
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [
[
[
"left_door"
]
]
],
"frame_duration": [
10128,
10953
],
"skill_idxes": [
25
]
},
{
"primitive_idx": 9,
"primitive_id": [
91,
4
],
"primitive_description": [
"place on next to",
"place in"
],
"object_id": [
[
"bowl_210",
"countertop_kelzer_0",
"drop_in_sink_awvzkn_0"
],
[
"bowl_209",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"bowl_210",
"bowl_209"
],
"spatial_prefix": [
[
[],
[],
[
"right"
]
],
[]
],
"frame_duration": [
10953,
12531
],
"skill_idxes": [
26,
27,
28
]
},
{
"primitive_idx": 10,
"primitive_id": [
28
],
"primitive_description": [
"pour"
],
"object_id": [
[
[
"diced__steak"
],
"cutting_board_208",
"bowl_209"
]
],
"manipulating_object_id": [
"cutting_board_208"
],
"spatial_prefix": [],
"frame_duration": [
12531,
13296
],
"skill_idxes": [
29,
30,
31,
32
]
},
{
"primitive_idx": 11,
"primitive_id": [
2
],
"primitive_description": [
"pick up from"
],
"object_id": [
[
"bowl_209",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"bowl_209"
],
"spatial_prefix": [],
"frame_duration": [
13296,
13587
],
"skill_idxes": [
33,
34
]
},
{
"primitive_idx": 12,
"primitive_id": [
10
],
"primitive_description": [
"open door"
],
"object_id": [
[
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [
[
[
"left_door"
]
]
],
"frame_duration": [
13587,
15081
],
"skill_idxes": [
35,
36
]
},
{
"primitive_idx": 13,
"primitive_id": [
4
],
"primitive_description": [
"place in"
],
"object_id": [
[
"bowl_209",
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [
"bowl_209"
],
"spatial_prefix": [
[
[],
[
"layer_4"
]
]
],
"frame_duration": [
15081,
15957
],
"skill_idxes": [
37
]
},
{
"primitive_idx": 14,
"primitive_id": [
2,
3
],
"primitive_description": [
"pick up from",
"place on"
],
"object_id": [
[
"pineapple_211",
"countertop_kelzer_0"
],
[
"pineapple_211",
"cutting_board_208"
]
],
"manipulating_object_id": [
"pineapple_211",
"pineapple_211"
],
"spatial_prefix": [],
"frame_duration": [
15957,
17295
],
"skill_idxes": [
38,
39,
40,
41
]
},
{
"primitive_idx": 15,
"primitive_id": [
34
],
"primitive_description": [
"chop"
],
"object_id": [
[
"carving_knife_207",
"pineapple_211"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [],
"frame_duration": [
17295,
17682
],
"skill_idxes": [
42,
43,
44
]
},
{
"primitive_idx": 16,
"primitive_id": [
2,
3
],
"primitive_description": [
"pick up from",
"place on"
],
"object_id": [
[
"half_pineapple_211_1",
"cutting_board_208"
],
[
"half_pineapple_211_1",
"countertop_kelzer_0"
]
],
"manipulating_object_id": [
"half_pineapple_211_1",
"half_pineapple_211_1"
],
"spatial_prefix": [],
"frame_duration": [
17682,
18003
],
"skill_idxes": [
45,
46
]
},
{
"primitive_idx": 17,
"primitive_id": [
34
],
"primitive_description": [
"chop"
],
"object_id": [
[
"carving_knife_207",
"half_pineapple_211_0"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [],
"frame_duration": [
18003,
18423
],
"skill_idxes": [
47,
48
]
},
{
"primitive_idx": 18,
"primitive_id": [
2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
"bowl_210",
"countertop_kelzer_0"
],
[
"bowl_210",
"drop_in_sink_awvzkn_0"
]
],
"manipulating_object_id": [
"bowl_210",
"bowl_210"
],
"spatial_prefix": [],
"frame_duration": [
18423,
18993
],
"skill_idxes": [
49,
50
]
},
{
"primitive_idx": 19,
"primitive_id": [
28
],
"primitive_description": [
"pour"
],
"object_id": [
[
[
"diced__pineapple"
],
"cutting_board_208",
"bowl_210"
]
],
"manipulating_object_id": [
"cutting_board_208"
],
"spatial_prefix": [],
"frame_duration": [
18993,
20361
],
"skill_idxes": [
51,
52,
53
]
},
{
"primitive_idx": 20,
"primitive_id": [
2,
3
],
"primitive_description": [
"pick up from",
"place on"
],
"object_id": [
[
"half_pineapple_211_1",
"countertop_kelzer_0"
],
[
"half_pineapple_211_1",
"cutting_board_208"
]
],
"manipulating_object_id": [
"half_pineapple_211_1",
"half_pineapple_211_1"
],
"spatial_prefix": [],
"frame_duration": [
20361,
20664
],
"skill_idxes": [
54,
55
]
},
{
"primitive_idx": 21,
"primitive_id": [
34
],
"primitive_description": [
"chop"
],
"object_id": [
[
"carving_knife_207",
"half_pineapple_211_1"
]
],
"manipulating_object_id": [
"carving_knife_207"
],
"spatial_prefix": [],
"frame_duration": [
20664,
21045
],
"skill_idxes": [
56,
57,
58
]
},
{
"primitive_idx": 22,
"primitive_id": [
28
],
"primitive_description": [
"pour"
],
"object_id": [
[
[
"diced__pineapple"
],
"cutting_board_208",
"bowl_210"
]
],
"manipulating_object_id": [
"cutting_board_208"
],
"spatial_prefix": [],
"frame_duration": [
21045,
21708
],
"skill_idxes": [
59,
60,
61,
62
]
},
{
"primitive_idx": 23,
"primitive_id": [
2,
4
],
"primitive_description": [
"pick up from",
"place in"
],
"object_id": [
[
"bowl_210",
"drop_in_sink_awvzkn_0"
],
[
"bowl_210",
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [
"bowl_210",
"bowl_210"
],
"spatial_prefix": [
[],
[
[],
[
"layer_3"
]
]
],
"frame_duration": [
21708,
23286
],
"skill_idxes": [
63,
64,
65
]
},
{
"primitive_idx": 24,
"primitive_id": [
12
],
"primitive_description": [
"close door"
],
"object_id": [
[
"bottom_cabinet_fancyy_0"
]
],
"manipulating_object_id": [],
"spatial_prefix": [
[
[
"left_door"
]
]
],
"frame_duration": [
23286,
23730
],
"skill_idxes": [
66
]
}
]
}