{ "task_name": "sorting household items", "data_folder": "", "meta_data": { "task_duration": 16887, "valid_duration": [ 0, 16887 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "sliding_door_tprpvb_10" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 1050 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 10 ], "skill_description": [ "open door" ], "object_id": [ [ "sliding_door_tprpvb_10" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 1050, 2838 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 2, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "bottle_of_detergent_228" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2838, 3342 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 3, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bottle_of_detergent_228", "hamper_226" ] ], "manipulating_object_id": [ "bottle_of_detergent_228" ], "spatial_prefix": [], "frame_duration": [ 3342, 3660 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 4, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "bottle_of_detergent_227", "hamper_226" ] ], "manipulating_object_id": [ "bottle_of_detergent_227" ], "spatial_prefix": [], "frame_duration": [ 3660, 4110 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 5, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "multi_station_furniture_sink_upwldu_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4110, 4671 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 6, "skill_id": [ 98 ], "skill_description": [ "place under" ], "object_id": [ [ "bottle_of_detergent_228", "multi_station_furniture_sink_upwldu_0" ] ], "manipulating_object_id": [ "bottle_of_detergent_228" ], "spatial_prefix": [], "frame_duration": [ 4671, 5478 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 7, "skill_id": [ 98 ], "skill_description": [ "place under" ], "object_id": [ [ "bottle_of_detergent_227", "multi_station_furniture_sink_upwldu_0" ] ], "manipulating_object_id": [ "bottle_of_detergent_227" ], "spatial_prefix": [], "frame_duration": [ 5478, 5919 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 8, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "box_of_sanitary_napkins_224" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5919, 6810 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 9, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "box_of_sanitary_napkins_224", "hamper_226" ] ], "manipulating_object_id": [ "box_of_sanitary_napkins_224" ], "spatial_prefix": [], "frame_duration": [ 6810, 7215 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 10, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "soap_dispenser_223" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7215, 8034 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 11, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "soap_dispenser_223", "hamper_225" ] ], "manipulating_object_id": [ "soap_dispenser_223" ], "spatial_prefix": [], "frame_duration": [ 8034, 8631 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 12, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "multi_station_furniture_sink_upwldu_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8631, 9990 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 13, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "soap_dispenser_223", "multi_station_furniture_sink_upwldu_0" ] ], "manipulating_object_id": [ "soap_dispenser_223" ], "spatial_prefix": [], "frame_duration": [ 9990, 10335 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 14, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "box_of_sanitary_napkins_224", "shelf_fjozhc_0" ] ], "manipulating_object_id": [ "box_of_sanitary_napkins_224" ], "spatial_prefix": [], "frame_duration": [ 10335, 10731 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 15, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "hamper_225" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10731, 12231 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 16, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "hamper_225", "robot" ] ], "manipulating_object_id": [ "hamper_225" ], "spatial_prefix": [ [ "", "near" ] ], "frame_duration": [ 12231, 13149 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 17, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "toothbrush_221", "hamper_225" ] ], "manipulating_object_id": [ "toothbrush_221" ], "spatial_prefix": [], "frame_duration": [ 13149, 13650 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 18, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "hamper_225", "robot" ] ], "manipulating_object_id": [ "hamper_225" ], "spatial_prefix": [ [ "", "away" ] ], "frame_duration": [ 13650, 14040 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 19, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "tube_of_toothpaste_222", "hamper_225" ] ], "manipulating_object_id": [ "tube_of_toothpaste_222" ], "spatial_prefix": [], "frame_duration": [ 14040, 14481 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 20, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "coffee_cup_220" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 14481, 15861 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 21, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "toothbrush_221", "coffee_cup_220" ] ], "manipulating_object_id": [ "toothbrush_221" ], "spatial_prefix": [], "frame_duration": [ 15861, 16356 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 4 ], "skill_description": [ "place in" ], "object_id": [ [ "tube_of_toothpaste_222", "coffee_cup_220" ] ], "manipulating_object_id": [ "tube_of_toothpaste_222" ], "spatial_prefix": [], "frame_duration": [ 16356, 16887 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 10 ], "primitive_description": [ "open door" ], "object_id": [ [ "sliding_door_tprpvb_10" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 2838 ], "skill_idxes": [ 0, 1 ] }, { "primitive_idx": 1, "primitive_id": [ 2, 98 ], "primitive_description": [ "pick up from", "place under" ], "object_id": [ [ [ "bottle_of_detergent_228", "bottle_of_detergent_227" ], "hamper_226" ], [ [ "bottle_of_detergent_228", "bottle_of_detergent_227" ], "multi_station_furniture_sink_upwldu_0" ] ], "manipulating_object_id": [ [ "bottle_of_detergent_228", "bottle_of_detergent_227" ], [ "bottle_of_detergent_228", "bottle_of_detergent_227" ] ], "spatial_prefix": [], "frame_duration": [ 2838, 5919 ], "skill_idxes": [ 2, 3, 4, 5, 6, 7 ] }, { "primitive_idx": 2, "primitive_id": [ 2, 3 ], "primitive_description": [ "pick up from", "place on" ], "object_id": [ [ "box_of_sanitary_napkins_224", "hamper_226" ], [ "box_of_sanitary_napkins_224", "shelf_fjozhc_0" ] ], "manipulating_object_id": [ "box_of_sanitary_napkins_224", "box_of_sanitary_napkins_224" ], "spatial_prefix": [], "frame_duration": [ 5919, 10731 ], "skill_idxes": [ 8, 9, 12, 14 ] }, { "primitive_idx": 3, "primitive_id": [ 2, 3 ], "primitive_description": [ "pick up from", "place on" ], "object_id": [ [ "soap_dispenser_223", "hamper_225" ], [ "soap_dispenser_223", "multi_station_furniture_sink_upwldu_0" ] ], "manipulating_object_id": [ "soap_dispenser_223", "soap_dispenser_223" ], "spatial_prefix": [], "frame_duration": [ 7215, 10335 ], "skill_idxes": [ 10, 11, 12, 13 ] }, { "primitive_idx": 4, "primitive_id": [ 2, 4 ], "primitive_description": [ "pick up from", "place in" ], "object_id": [ [ [ "toothbrush_221", "tube_of_toothpaste_222" ], "hamper_225" ], [ [ "toothbrush_221", "tube_of_toothpaste_222" ], "coffee_cup_220" ] ], "manipulating_object_id": [ [ "toothbrush_221", "tube_of_toothpaste_222" ], [ "toothbrush_221", "tube_of_toothpaste_222" ] ], "spatial_prefix": [], "frame_duration": [ 10731, 16887 ], "skill_idxes": [ 15, 16, 17, 18, 19, 20, 21, 22 ] } ] }