{ "task_name": "chop an onion", "data_folder": "", "meta_data": { "task_duration": 6057, "valid_duration": [41, 6098] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [1], "skill_description": ["move to"], "object_id": [["cutting_board_76"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [41, 502], "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"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [502, 1304], "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"], "memory_prefix": [], "spatial_prefix": [["", "", "left"]], "frame_duration": [1304, 1942], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 3, "skill_id": [1], "skill_description": ["move to"], "object_id": [["vidalia_onion_75"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [1942, 2030], "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"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [2030, 2528], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 5, "skill_id": [1], "skill_description": ["move to"], "object_id": [["cutting_board_76"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [2528, 2582], "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"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [2582, 3133], "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"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [3133, 3963], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 8, "skill_id": [1], "skill_description": ["move to"], "object_id": [["vidalia_onion_75"]], "manipulating_object_id": [], "memory_prefix": ["back"], "spatial_prefix": [], "frame_duration": [3963, 4188], "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"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [4188, 4446], "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"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [4446, 4473], "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"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [4473, 4572], "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"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [4572, 4719], "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"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [4719, 5156], "mp_ef": [], "skill_type": ["uncoordinated"] }, { "skill_idx": 14, "skill_id": [1], "skill_description": ["move to"], "object_id": [["bowl_73"]], "manipulating_object_id": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [5156, 5273], "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"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [5273, 5498], "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": [], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [5498, 5561], "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"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [5561, 6098], "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"], "memory_prefix": [], "spatial_prefix": [[], [[], [], ["left"]]], "frame_duration": [41, 1942], "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"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [1942, 3133], "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"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [3133, 4719], "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"], "memory_prefix": [], "spatial_prefix": [], "frame_duration": [4719, 6098], "skill_idxes": [13, 14, 15, 16, 17] } ] }