phicoltan/behavior1k-task0027
0394
1{2 "task_name": "sorting household items",3 "data_folder": "",4 "meta_data": {5 "task_duration": 17153,6 "valid_duration": [7 0,8 171539 ]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 "hamper_225"23 ]24 ],25 "manipulating_object_id": [],26 "spatial_prefix": [],27 "frame_duration": [28 0,29 3030 ],31 "mp_ef": [],32 "skill_type": [33 "navigation"34 ]35 },36 {37 "skill_idx": 1,38 "skill_id": [39 9040 ],41 "skill_description": [42 "push to"43 ],44 "object_id": [45 [46 "hamper_225",47 "robot"48 ]49 ],50 "manipulating_object_id": [51 "hamper_225"52 ],53 "spatial_prefix": [54 [55 "",56 "away"57 ]58 ],59 "frame_duration": [60 30,61 77262 ],63 "mp_ef": [],64 "skill_type": [65 "uncoordinated"66 ]67 },68 {69 "skill_idx": 2,70 "skill_id": [71 172 ],73 "skill_description": [74 "move to"75 ],76 "object_id": [77 [78 "hamper_226"79 ]80 ],81 "manipulating_object_id": [],82 "spatial_prefix": [],83 "frame_duration": [84 772,85 114086 ],87 "mp_ef": [],88 "skill_type": [89 "navigation"90 ]91 },92 {93 "skill_idx": 3,94 "skill_id": [95 9096 ],97 "skill_description": [98 "push to"99 ],100 "object_id": [101 [102 "hamper_226",103 "robot"104 ]105 ],106 "manipulating_object_id": [107 "hamper_226"108 ],109 "spatial_prefix": [110 [111 "",112 "near"113 ]114 ],115 "frame_duration": [116 1140,117 2070118 ],119 "mp_ef": [],120 "skill_type": [121 "uncoordinated"122 ]123 },124 {125 "skill_idx": 4,126 "skill_id": [127 1128 ],129 "skill_description": [130 "move to"131 ],132 "object_id": [133 [134 "sliding_door_tprpvb_10"135 ]136 ],137 "manipulating_object_id": [],138 "spatial_prefix": [],139 "frame_duration": [140 2070,141 3150142 ],143 "mp_ef": [],144 "skill_type": [145 "navigation"146 ]147 },148 {149 "skill_idx": 5,150 "skill_id": [151 10152 ],153 "skill_description": [154 "open door"155 ],156 "object_id": [157 [158 "sliding_door_tprpvb_10"159 ]160 ],161 "manipulating_object_id": [],162 "spatial_prefix": [],163 "frame_duration": [164 3150,165 4470166 ],167 "mp_ef": [],168 "skill_type": [169 "uncoordinated"170 ]171 },172 {173 "skill_idx": 6,174 "skill_id": [175 1176 ],177 "skill_description": [178 "move to"179 ],180 "object_id": [181 [182 "bottle_of_detergent_228"183 ]184 ],185 "manipulating_object_id": [],186 "spatial_prefix": [],187 "frame_duration": [188 4470,189 5946190 ],191 "mp_ef": [],192 "skill_type": [193 "navigation"194 ]195 },196 {197 "skill_idx": 7,198 "skill_id": [199 2200 ],201 "skill_description": [202 "pick up from"203 ],204 "object_id": [205 [206 "bottle_of_detergent_228",207 "hamper_226"208 ]209 ],210 "manipulating_object_id": [211 "bottle_of_detergent_228"212 ],213 "spatial_prefix": [],214 "frame_duration": [215 5946,216 6198217 ],218 "mp_ef": [],219 "skill_type": [220 "uncoordinated"221 ]222 },223 {224 "skill_idx": 8,225 "skill_id": [226 2227 ],228 "skill_description": [229 "pick up from"230 ],231 "object_id": [232 [233 "bottle_of_detergent_227",234 "hamper_226"235 ]236 ],237 "manipulating_object_id": [238 "bottle_of_detergent_227"239 ],240 "spatial_prefix": [],241 "frame_duration": [242 6198,243 6510244 ],245 "mp_ef": [],246 "skill_type": [247 "uncoordinated"248 ]249 },250 {251 "skill_idx": 9,252 "skill_id": [253 1254 ],255 "skill_description": [256 "move to"257 ],258 "object_id": [259 [260 "multi_station_furniture_sink_upwldu_0"261 ]262 ],263 "manipulating_object_id": [],264 "spatial_prefix": [],265 "frame_duration": [266 6510,267 7251268 ],269 "mp_ef": [],270 "skill_type": [271 "navigation"272 ]273 },274 {275 "skill_idx": 10,276 "skill_id": [277 98278 ],279 "skill_description": [280 "place under"281 ],282 "object_id": [283 [284 "bottle_of_detergent_228",285 "multi_station_furniture_sink_upwldu_0"286 ]287 ],288 "manipulating_object_id": [289 "bottle_of_detergent_228"290 ],291 "spatial_prefix": [],292 "frame_duration": [293 7251,294 7878295 ],296 "mp_ef": [],297 "skill_type": [298 "uncoordinated"299 ]300 },301 {302 "skill_idx": 11,303 "skill_id": [304 98305 ],306 "skill_description": [307 "place under"308 ],309 "object_id": [310 [311 "bottle_of_detergent_227",312 "multi_station_furniture_sink_upwldu_0"313 ]314 ],315 "manipulating_object_id": [316 "bottle_of_detergent_227"317 ],318 "spatial_prefix": [],319 "frame_duration": [320 7878,321 8415322 ],323 "mp_ef": [],324 "skill_type": [325 "uncoordinated"326 ]327 },328 {329 "skill_idx": 12,330 "skill_id": [331 1332 ],333 "skill_description": [334 "move to"335 ],336 "object_id": [337 [338 "box_of_sanitary_napkins_224"339 ]340 ],341 "manipulating_object_id": [],342 "spatial_prefix": [],343 "frame_duration": [344 8415,345 9369346 ],347 "mp_ef": [],348 "skill_type": [349 "navigation"350 ]351 },352 {353 "skill_idx": 13,354 "skill_id": [355 2356 ],357 "skill_description": [358 "pick up from"359 ],360 "object_id": [361 [362 "box_of_sanitary_napkins_224",363 "hamper_226"364 ]365 ],366 "manipulating_object_id": [367 "box_of_sanitary_napkins_224"368 ],369 "spatial_prefix": [],370 "frame_duration": [371 9369,372 9930373 ],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 "soap_dispenser_223"390 ]391 ],392 "manipulating_object_id": [],393 "spatial_prefix": [],394 "frame_duration": [395 9930,396 10089397 ],398 "mp_ef": [],399 "skill_type": [400 "navigation"401 ]402 },403 {404 "skill_idx": 15,405 "skill_id": [406 2407 ],408 "skill_description": [409 "pick up from"410 ],411 "object_id": [412 [413 "soap_dispenser_223",414 "hamper_225"415 ]416 ],417 "manipulating_object_id": [418 "soap_dispenser_223"419 ],420 "spatial_prefix": [],421 "frame_duration": [422 10089,423 10692424 ],425 "mp_ef": [],426 "skill_type": [427 "uncoordinated"428 ]429 },430 {431 "skill_idx": 16,432 "skill_id": [433 1434 ],435 "skill_description": [436 "move to"437 ],438 "object_id": [439 [440 "multi_station_furniture_sink_upwldu_0"441 ]442 ],443 "manipulating_object_id": [],444 "spatial_prefix": [],445 "frame_duration": [446 10692,447 11802448 ],449 "mp_ef": [],450 "skill_type": [451 "navigation"452 ]453 },454 {455 "skill_idx": 17,456 "skill_id": [457 3458 ],459 "skill_description": [460 "place on"461 ],462 "object_id": [463 [464 "soap_dispenser_223",465 "multi_station_furniture_sink_upwldu_0"466 ]467 ],468 "manipulating_object_id": [469 "soap_dispenser_223"470 ],471 "spatial_prefix": [],472 "frame_duration": [473 11802,474 12270475 ],476 "mp_ef": [],477 "skill_type": [478 "uncoordinated"479 ]480 },481 {482 "skill_idx": 18,483 "skill_id": [484 3485 ],486 "skill_description": [487 "place on"488 ],489 "object_id": [490 [491 "box_of_sanitary_napkins_224",492 "shelf_fjozhc_0"493 ]494 ],495 "manipulating_object_id": [496 "box_of_sanitary_napkins_224"497 ],498 "spatial_prefix": [],499 "frame_duration": [500 12270,501 12666502 ],503 "mp_ef": [],504 "skill_type": [505 "uncoordinated"506 ]507 },508 {509 "skill_idx": 19,510 "skill_id": [511 1512 ],513 "skill_description": [514 "move to"515 ],516 "object_id": [517 [518 "toothbrush_221"519 ]520 ],521 "manipulating_object_id": [],522 "spatial_prefix": [],523 "frame_duration": [524 12666,525 13932526 ],527 "mp_ef": [],528 "skill_type": [529 "navigation"530 ]531 },532 {533 "skill_idx": 20,534 "skill_id": [535 2536 ],537 "skill_description": [538 "pick up from"539 ],540 "object_id": [541 [542 "toothbrush_221",543 "hamper_225"544 ]545 ],546 "manipulating_object_id": [547 "toothbrush_221"548 ],549 "spatial_prefix": [],550 "frame_duration": [551 13932,552 14790553 ],554 "mp_ef": [],555 "skill_type": [556 "uncoordinated"557 ]558 },559 {560 "skill_idx": 21,561 "skill_id": [562 2563 ],564 "skill_description": [565 "pick up from"566 ],567 "object_id": [568 [569 "tube_of_toothpaste_222",570 "hamper_225"571 ]572 ],573 "manipulating_object_id": [574 "tube_of_toothpaste_222"575 ],576 "spatial_prefix": [],577 "frame_duration": [578 14790,579 15315580 ],581 "mp_ef": [],582 "skill_type": [583 "uncoordinated"584 ]585 },586 {587 "skill_idx": 22,588 "skill_id": [589 1590 ],591 "skill_description": [592 "move to"593 ],594 "object_id": [595 [596 "coffee_cup_220"597 ]598 ],599 "manipulating_object_id": [],600 "spatial_prefix": [],601 "frame_duration": [602 15315,603 16440604 ],605 "mp_ef": [],606 "skill_type": [607 "navigation"608 ]609 },610 {611 "skill_idx": 23,612 "skill_id": [613 4614 ],615 "skill_description": [616 "place in"617 ],618 "object_id": [619 [620 "toothbrush_221",621 "coffee_cup_220"622 ]623 ],624 "manipulating_object_id": [625 "toothbrush_221"626 ],627 "spatial_prefix": [],628 "frame_duration": [629 16440,630 16710631 ],632 "mp_ef": [],633 "skill_type": [634 "uncoordinated"635 ]636 },637 {638 "skill_idx": 24,639 "skill_id": [640 4641 ],642 "skill_description": [643 "place in"644 ],645 "object_id": [646 [647 "tube_of_toothpaste_222",648 "coffee_cup_220"649 ]650 ],651 "manipulating_object_id": [652 "tube_of_toothpaste_222"653 ],654 "spatial_prefix": [],655 "frame_duration": [656 16710,657 17153658 ],659 "mp_ef": [],660 "skill_type": [661 "uncoordinated"662 ]663 }664 ],665 "primitive_annotation": [666 {667 "primitive_idx": 0,668 "primitive_id": [669 10670 ],671 "primitive_description": [672 "open door"673 ],674 "object_id": [675 [676 "sliding_door_tprpvb_10"677 ]678 ],679 "manipulating_object_id": [],680 "spatial_prefix": [],681 "frame_duration": [682 0,683 4470684 ],685 "skill_idxes": [686 0,687 1,688 2,689 3,690 4,691 5692 ]693 },694 {695 "primitive_idx": 1,696 "primitive_id": [697 2,698 98699 ],700 "primitive_description": [701 "pick up from",702 "place under"703 ],704 "object_id": [705 [706 [707 "bottle_of_detergent_228",708 "bottle_of_detergent_227"709 ],710 "hamper_226"711 ],712 [713 [714 "bottle_of_detergent_228",715 "bottle_of_detergent_227"716 ],717 "multi_station_furniture_sink_upwldu_0"718 ]719 ],720 "manipulating_object_id": [721 [722 "bottle_of_detergent_228",723 "bottle_of_detergent_227"724 ],725 [726 "bottle_of_detergent_228",727 "bottle_of_detergent_227"728 ]729 ],730 "spatial_prefix": [],731 "frame_duration": [732 4470,733 8415734 ],735 "skill_idxes": [736 6,737 7,738 8,739 9,740 10,741 11742 ]743 },744 {745 "primitive_idx": 2,746 "primitive_id": [747 2,748 3749 ],750 "primitive_description": [751 "pick up from",752 "place on"753 ],754 "object_id": [755 [756 "box_of_sanitary_napkins_224",757 "hamper_226"758 ],759 [760 "box_of_sanitary_napkins_224",761 "shelf_fjozhc_0"762 ]763 ],764 "manipulating_object_id": [765 "box_of_sanitary_napkins_224",766 "box_of_sanitary_napkins_224"767 ],768 "spatial_prefix": [],769 "frame_duration": [770 8415,771 12666772 ],773 "skill_idxes": [774 12,775 13,776 16,777 18778 ]779 },780 {781 "primitive_idx": 3,782 "primitive_id": [783 2,784 3785 ],786 "primitive_description": [787 "pick up from",788 "place on"789 ],790 "object_id": [791 [792 "soap_dispenser_223",793 "hamper_225"794 ],795 [796 "soap_dispenser_223",797 "multi_station_furniture_sink_upwldu_0"798 ]799 ],800 "manipulating_object_id": [801 "soap_dispenser_223",802 "soap_dispenser_223"803 ],804 "spatial_prefix": [],805 "frame_duration": [806 9930,807 12270808 ],809 "skill_idxes": [810 14,811 15,812 16,813 17814 ]815 },816 {817 "primitive_idx": 4,818 "primitive_id": [819 2,820 4821 ],822 "primitive_description": [823 "pick up from",824 "place in"825 ],826 "object_id": [827 [828 [829 "toothbrush_221",830 "tube_of_toothpaste_222"831 ],832 "hamper_225"833 ],834 [835 [836 "toothbrush_221",837 "tube_of_toothpaste_222"838 ],839 "coffee_cup_220"840 ]841 ],842 "manipulating_object_id": [843 [844 "toothbrush_221",845 "tube_of_toothpaste_222"846 ],847 [848 "toothbrush_221",849 "tube_of_toothpaste_222"850 ]851 ],852 "spatial_prefix": [],853 "frame_duration": [854 12666,855 17153856 ],857 "skill_idxes": [858 19,859 20,860 21,861 22,862 23,863 24864 ]865 }866 ]867}