phicoltan/behavior1k-task0027
0394
1{2 "task_name": "sorting household items",3 "data_folder": "",4 "meta_data": {5 "task_duration": 17508,6 "valid_duration": [7 0,8 175089 ]10 },11 "skill_annotation": [12 {13 "skill_idx": 0,14 "skill_id": [15 116 ],17 "skill_description": [18 "move to"19 ],20 "object_id": [21 [22 "sliding_door_tprpvb_10"23 ]24 ],25 "manipulating_object_id": [],26 "spatial_prefix": [],27 "frame_duration": [28 0,29 75630 ],31 "mp_ef": [],32 "skill_type": [33 "navigation"34 ]35 },36 {37 "skill_idx": 1,38 "skill_id": [39 1040 ],41 "skill_description": [42 "open door"43 ],44 "object_id": [45 [46 "sliding_door_tprpvb_10"47 ]48 ],49 "manipulating_object_id": [],50 "spatial_prefix": [],51 "frame_duration": [52 756,53 207054 ],55 "mp_ef": [],56 "skill_type": [57 "uncoordinated"58 ]59 },60 {61 "skill_idx": 2,62 "skill_id": [63 164 ],65 "skill_description": [66 "move to"67 ],68 "object_id": [69 [70 "bottle_of_detergent_228"71 ]72 ],73 "manipulating_object_id": [],74 "spatial_prefix": [],75 "frame_duration": [76 2070,77 282078 ],79 "mp_ef": [],80 "skill_type": [81 "navigation"82 ]83 },84 {85 "skill_idx": 3,86 "skill_id": [87 288 ],89 "skill_description": [90 "pick up from"91 ],92 "object_id": [93 [94 "bottle_of_detergent_228",95 "hamper_226"96 ]97 ],98 "manipulating_object_id": [99 "bottle_of_detergent_228"100 ],101 "spatial_prefix": [],102 "frame_duration": [103 2820,104 3654105 ],106 "mp_ef": [],107 "skill_type": [108 "uncoordinated"109 ]110 },111 {112 "skill_idx": 4,113 "skill_id": [114 1115 ],116 "skill_description": [117 "move to"118 ],119 "object_id": [120 [121 "bottle_of_detergent_227"122 ]123 ],124 "manipulating_object_id": [],125 "spatial_prefix": [],126 "frame_duration": [127 3654,128 3756129 ],130 "mp_ef": [],131 "skill_type": [132 "navigation"133 ]134 },135 {136 "skill_idx": 5,137 "skill_id": [138 2139 ],140 "skill_description": [141 "pick up from"142 ],143 "object_id": [144 [145 "bottle_of_detergent_227",146 "hamper_225"147 ]148 ],149 "manipulating_object_id": [150 "bottle_of_detergent_227"151 ],152 "spatial_prefix": [],153 "frame_duration": [154 3756,155 4188156 ],157 "mp_ef": [],158 "skill_type": [159 "uncoordinated"160 ]161 },162 {163 "skill_idx": 6,164 "skill_id": [165 1166 ],167 "skill_description": [168 "move to"169 ],170 "object_id": [171 [172 "multi_station_furniture_sink_upwldu_0"173 ]174 ],175 "manipulating_object_id": [],176 "spatial_prefix": [],177 "frame_duration": [178 4188,179 5220180 ],181 "mp_ef": [],182 "skill_type": [183 "navigation"184 ]185 },186 {187 "skill_idx": 7,188 "skill_id": [189 98190 ],191 "skill_description": [192 "place under"193 ],194 "object_id": [195 [196 "bottle_of_detergent_228",197 "multi_station_furniture_sink_upwldu_0"198 ]199 ],200 "manipulating_object_id": [201 "bottle_of_detergent_228"202 ],203 "spatial_prefix": [],204 "frame_duration": [205 5220,206 5469207 ],208 "mp_ef": [],209 "skill_type": [210 "uncoordinated"211 ]212 },213 {214 "skill_idx": 8,215 "skill_id": [216 98217 ],218 "skill_description": [219 "place under"220 ],221 "object_id": [222 [223 "bottle_of_detergent_227",224 "multi_station_furniture_sink_upwldu_0"225 ]226 ],227 "manipulating_object_id": [228 "bottle_of_detergent_227"229 ],230 "spatial_prefix": [],231 "frame_duration": [232 5469,233 5901234 ],235 "mp_ef": [],236 "skill_type": [237 "uncoordinated"238 ]239 },240 {241 "skill_idx": 9,242 "skill_id": [243 1244 ],245 "skill_description": [246 "move to"247 ],248 "object_id": [249 [250 "box_of_sanitary_napkins_224"251 ]252 ],253 "manipulating_object_id": [],254 "spatial_prefix": [],255 "frame_duration": [256 5901,257 7335258 ],259 "mp_ef": [],260 "skill_type": [261 "navigation"262 ]263 },264 {265 "skill_idx": 10,266 "skill_id": [267 2268 ],269 "skill_description": [270 "pick up from"271 ],272 "object_id": [273 [274 "box_of_sanitary_napkins_224",275 "hamper_226"276 ]277 ],278 "manipulating_object_id": [279 "box_of_sanitary_napkins_224"280 ],281 "spatial_prefix": [],282 "frame_duration": [283 7335,284 7911285 ],286 "mp_ef": [],287 "skill_type": [288 "uncoordinated"289 ]290 },291 {292 "skill_idx": 11,293 "skill_id": [294 90295 ],296 "skill_description": [297 "push to"298 ],299 "object_id": [300 [301 "hamper_226",302 "robot"303 ]304 ],305 "manipulating_object_id": [306 "hamper_226"307 ],308 "spatial_prefix": [309 [310 "",311 "near"312 ]313 ],314 "frame_duration": [315 7911,316 8280317 ],318 "mp_ef": [],319 "skill_type": [320 "uncoordinated"321 ]322 },323 {324 "skill_idx": 12,325 "skill_id": [326 1327 ],328 "skill_description": [329 "move to"330 ],331 "object_id": [332 [333 "hamper_226"334 ]335 ],336 "manipulating_object_id": [],337 "spatial_prefix": [],338 "frame_duration": [339 8280,340 8466341 ],342 "mp_ef": [],343 "skill_type": [344 "navigation"345 ]346 },347 {348 "skill_idx": 13,349 "skill_id": [350 90351 ],352 "skill_description": [353 "push to"354 ],355 "object_id": [356 [357 "hamper_226",358 "robot"359 ]360 ],361 "manipulating_object_id": [362 "hamper_226"363 ],364 "spatial_prefix": [365 [366 "",367 "away"368 ]369 ],370 "frame_duration": [371 8466,372 8790373 ],374 "mp_ef": [],375 "skill_type": [376 "uncoordinated"377 ]378 },379 {380 "skill_idx": 14,381 "skill_id": [382 1383 ],384 "skill_description": [385 "move to"386 ],387 "object_id": [388 [389 "hamper_225"390 ]391 ],392 "manipulating_object_id": [],393 "spatial_prefix": [],394 "frame_duration": [395 8790,396 9492397 ],398 "mp_ef": [],399 "skill_type": [400 "navigation"401 ]402 },403 {404 "skill_idx": 15,405 "skill_id": [406 90407 ],408 "skill_description": [409 "push to"410 ],411 "object_id": [412 [413 "hamper_225",414 "robot"415 ]416 ],417 "manipulating_object_id": [418 "hamper_225"419 ],420 "spatial_prefix": [421 [422 "",423 "near"424 ]425 ],426 "frame_duration": [427 9492,428 10575429 ],430 "mp_ef": [],431 "skill_type": [432 "uncoordinated"433 ]434 },435 {436 "skill_idx": 16,437 "skill_id": [438 2439 ],440 "skill_description": [441 "pick up from"442 ],443 "object_id": [444 [445 "soap_dispenser_223",446 "hamper_225"447 ]448 ],449 "manipulating_object_id": [450 "soap_dispenser_223"451 ],452 "spatial_prefix": [],453 "frame_duration": [454 10590,455 10890456 ],457 "mp_ef": [],458 "skill_type": [459 "uncoordinated"460 ]461 },462 {463 "skill_idx": 17,464 "skill_id": [465 1466 ],467 "skill_description": [468 "move to"469 ],470 "object_id": [471 [472 "multi_station_furniture_sink_upwldu_0"473 ]474 ],475 "manipulating_object_id": [],476 "spatial_prefix": [],477 "frame_duration": [478 10890,479 11847480 ],481 "mp_ef": [],482 "skill_type": [483 "navigation"484 ]485 },486 {487 "skill_idx": 18,488 "skill_id": [489 3490 ],491 "skill_description": [492 "place on"493 ],494 "object_id": [495 [496 "soap_dispenser_223",497 "multi_station_furniture_sink_upwldu_0"498 ]499 ],500 "manipulating_object_id": [501 "soap_dispenser_223"502 ],503 "spatial_prefix": [],504 "frame_duration": [505 11847,506 12297507 ],508 "mp_ef": [],509 "skill_type": [510 "uncoordinated"511 ]512 },513 {514 "skill_idx": 19,515 "skill_id": [516 3517 ],518 "skill_description": [519 "place on"520 ],521 "object_id": [522 [523 "box_of_sanitary_napkins_224",524 "shelf_fjozhc_0"525 ]526 ],527 "manipulating_object_id": [528 "box_of_sanitary_napkins_224"529 ],530 "spatial_prefix": [],531 "frame_duration": [532 12297,533 12714534 ],535 "mp_ef": [],536 "skill_type": [537 "uncoordinated"538 ]539 },540 {541 "skill_idx": 20,542 "skill_id": [543 1544 ],545 "skill_description": [546 "move to"547 ],548 "object_id": [549 [550 "toothbrush_221"551 ]552 ],553 "manipulating_object_id": [],554 "spatial_prefix": [],555 "frame_duration": [556 12714,557 13813558 ],559 "mp_ef": [],560 "skill_type": [561 "navigation"562 ]563 },564 {565 "skill_idx": 21,566 "skill_id": [567 2568 ],569 "skill_description": [570 "pick up from"571 ],572 "object_id": [573 [574 "toothbrush_221",575 "hamper_225"576 ]577 ],578 "manipulating_object_id": [579 "toothbrush_221"580 ],581 "spatial_prefix": [],582 "frame_duration": [583 13813,584 15150585 ],586 "mp_ef": [],587 "skill_type": [588 "uncoordinated"589 ]590 },591 {592 "skill_idx": 22,593 "skill_id": [594 2595 ],596 "skill_description": [597 "pick up from"598 ],599 "object_id": [600 [601 "tube_of_toothpaste_222",602 "hamper_225"603 ]604 ],605 "manipulating_object_id": [606 "tube_of_toothpaste_222"607 ],608 "spatial_prefix": [],609 "frame_duration": [610 15150,611 15792612 ],613 "mp_ef": [],614 "skill_type": [615 "uncoordinated"616 ]617 },618 {619 "skill_idx": 23,620 "skill_id": [621 1622 ],623 "skill_description": [624 "move to"625 ],626 "object_id": [627 [628 "coffee_cup_220"629 ]630 ],631 "manipulating_object_id": [],632 "spatial_prefix": [],633 "frame_duration": [634 15792,635 16557636 ],637 "mp_ef": [],638 "skill_type": [639 "navigation"640 ]641 },642 {643 "skill_idx": 24,644 "skill_id": [645 4646 ],647 "skill_description": [648 "place in"649 ],650 "object_id": [651 [652 "toothbrush_221",653 "coffee_cup_220"654 ]655 ],656 "manipulating_object_id": [657 "toothbrush_221"658 ],659 "spatial_prefix": [],660 "frame_duration": [661 16557,662 17043663 ],664 "mp_ef": [],665 "skill_type": [666 "uncoordinated"667 ]668 },669 {670 "skill_idx": 25,671 "skill_id": [672 4673 ],674 "skill_description": [675 "place in"676 ],677 "object_id": [678 [679 "tube_of_toothpaste_222",680 "coffee_cup_220"681 ]682 ],683 "manipulating_object_id": [684 "tube_of_toothpaste_222"685 ],686 "spatial_prefix": [],687 "frame_duration": [688 17043,689 17508690 ],691 "mp_ef": [],692 "skill_type": [693 "uncoordinated"694 ]695 }696 ],697 "primitive_annotation": [698 {699 "primitive_idx": 0,700 "primitive_id": [701 10702 ],703 "primitive_description": [704 "open door"705 ],706 "object_id": [707 [708 "sliding_door_tprpvb_10"709 ]710 ],711 "manipulating_object_id": [],712 "spatial_prefix": [],713 "frame_duration": [714 0,715 2070716 ],717 "skill_idxes": [718 0,719 1720 ]721 },722 {723 "primitive_idx": 1,724 "primitive_id": [725 2,726 98727 ],728 "primitive_description": [729 "pick up from",730 "place under"731 ],732 "object_id": [733 [734 [735 "bottle_of_detergent_228",736 "bottle_of_detergent_227"737 ],738 [739 "hamper_226",740 "hamper_225"741 ]742 ],743 [744 [745 "bottle_of_detergent_228",746 "bottle_of_detergent_227"747 ],748 "multi_station_furniture_sink_upwldu_0"749 ]750 ],751 "manipulating_object_id": [752 [753 "bottle_of_detergent_228",754 "bottle_of_detergent_227"755 ],756 [757 "bottle_of_detergent_228",758 "bottle_of_detergent_227"759 ]760 ],761 "spatial_prefix": [],762 "frame_duration": [763 2070,764 5901765 ],766 "skill_idxes": [767 2,768 3,769 4,770 5,771 6,772 7,773 8774 ]775 },776 {777 "primitive_idx": 2,778 "primitive_id": [779 2,780 3781 ],782 "primitive_description": [783 "pick up from",784 "place on"785 ],786 "object_id": [787 [788 "box_of_sanitary_napkins_224",789 "hamper_226"790 ],791 [792 "box_of_sanitary_napkins_224",793 "shelf_fjozhc_0"794 ]795 ],796 "manipulating_object_id": [797 "box_of_sanitary_napkins_224",798 "box_of_sanitary_napkins_224"799 ],800 "spatial_prefix": [],801 "frame_duration": [802 5901,803 12714804 ],805 "skill_idxes": [806 9,807 10,808 11,809 12,810 13,811 17,812 19813 ]814 },815 {816 "primitive_idx": 3,817 "primitive_id": [818 2,819 3820 ],821 "primitive_description": [822 "pick up from",823 "place on"824 ],825 "object_id": [826 [827 "soap_dispenser_223",828 "hamper_225"829 ],830 [831 "soap_dispenser_223",832 "multi_station_furniture_sink_upwldu_0"833 ]834 ],835 "manipulating_object_id": [836 "soap_dispenser_223",837 "soap_dispenser_223"838 ],839 "spatial_prefix": [],840 "frame_duration": [841 8790,842 12297843 ],844 "skill_idxes": [845 14,846 15,847 16,848 17,849 18850 ]851 },852 {853 "primitive_idx": 4,854 "primitive_id": [855 2,856 4857 ],858 "primitive_description": [859 "pick up from",860 "place in"861 ],862 "object_id": [863 [864 [865 "toothbrush_221",866 "tube_of_toothpaste_222"867 ],868 "hamper_225"869 ],870 [871 [872 "toothbrush_221",873 "tube_of_toothpaste_222"874 ],875 "coffee_cup_220"876 ]877 ],878 "manipulating_object_id": [879 [880 "toothbrush_221",881 "tube_of_toothpaste_222"882 ],883 [884 "toothbrush_221",885 "tube_of_toothpaste_222"886 ]887 ],888 "spatial_prefix": [],889 "frame_duration": [890 12714,891 17508892 ],893 "skill_idxes": [894 20,895 21,896 22,897 23,898 24,899 25900 ]901 }902 ]903}