{ "task_name": "clean a patio", "data_folder": "", "meta_data": { "task_duration": 13737, "valid_duration": [ 3, 13740 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3, 951 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 1, "skill_id": [ 2 ], "skill_description": [ "pick up from" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 951, 2343 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 2, "skill_id": [ 94 ], "skill_description": [ "hold" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 2343, 2627 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 3, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2627, 2872 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 4, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 2872, 2927 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 5, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 2927, 3129 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 6, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 3129, 3191 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 7, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3191, 3612 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 8, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 3612, 3690 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 9, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 3690, 4620 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 10, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 4620, 4691 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 11, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 4691, 4968 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 12, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 4968, 5040 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 13, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5040, 5160 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 14, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 5160, 5298 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 15, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5298, 5436 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 16, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 5436, 5520 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 17, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 5520, 6206 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 18, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 6206, 6261 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 19, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6261, 6450 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 20, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 6450, 6536 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 21, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6536, 7099 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 22, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 7099, 7305 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 23, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7305, 7536 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 24, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 7536, 7627 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 25, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7627, 7816 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 26, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 7816, 7860 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 27, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7860, 8006 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 28, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 8006, 8091 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 29, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_cottya_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 8091, 8539 ], [ 8837, 8933 ] ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 30, "skill_id": [ 8 ], "skill_description": [ "release" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 8539, 8837 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 31, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "garden_chair_cottya_0", "robot" ] ], "manipulating_object_id": [ "garden_chair_cottya_0" ], "spatial_prefix": [ [ "", "away" ] ], "frame_duration": [ 8933, 9376 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_cottya_1" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9376, 9586 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 33, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "garden_chair_cottya_1", "robot" ] ], "manipulating_object_id": [ "garden_chair_cottya_1" ], "spatial_prefix": [ [ "", "away" ] ], "frame_duration": [ 9592, 9858 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 34, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_cottya_2" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9858, 10177 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 35, "skill_id": [ 90 ], "skill_description": [ "push to" ], "object_id": [ [ "garden_chair_cottya_2", "robot" ] ], "manipulating_object_id": [ "garden_chair_cottya_2" ], "spatial_prefix": [ [ "", "away" ] ], "frame_duration": [ 10177, 10420 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 36, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 10420, 10690 ], [ 11000, 11268 ] ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 37, "skill_id": [ 94 ], "skill_description": [ "hold" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 10690, 11000 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 38, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 11268, 11310 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 39, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11310, 11519 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 40, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 11519, 11553 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 41, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11553, 11715 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 42, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 11715, 11784 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 43, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11784, 11847 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 44, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 11847, 11910 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 45, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 11910, 12163 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 46, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 12163, 12288 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 47, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 12288, 12795 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 48, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 12795, 12879 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 49, "skill_id": [ 8 ], "skill_description": [ "release" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 13053, 13204 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 50, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 13204, 13740 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] } ], "primitive_annotation": [ { "primitive_idx": 0, "primitive_id": [ 2 ], "primitive_description": [ "pick up from" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 3, 2627 ], "skill_idxes": [ 0, 1, 2 ] }, { "primitive_idx": 1, "primitive_id": [ 50 ], "primitive_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 2627, 8091 ], "skill_idxes": [ 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28 ] }, { "primitive_idx": 2, "primitive_id": [ 90 ], "primitive_description": [ "push to" ], "object_id": [ [ [ "garden_chair_cottya_0", "garden_chair_cottya_1", "garden_chair_cottya_2" ], "robot" ] ], "manipulating_object_id": [ [ "garden_chair_cottya_0", "garden_chair_cottya_1", "garden_chair_cottya_2" ] ], "spatial_prefix": [ [ [], [ "away", "away", "away" ] ] ], "frame_duration": [ [ 8091, 8539 ], 10420 ], "skill_idxes": [ 29, 30, 31, 32, 33, 34, 35 ] }, { "primitive_idx": 3, "primitive_id": [ 50 ], "primitive_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ [ 10420, 10690 ], 12879 ], "skill_idxes": [ 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48 ] }, { "primitive_idx": 4, "primitive_id": [ 3 ], "primitive_description": [ "place on" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 13053, 13740 ], "skill_idxes": [ 49, 50 ] } ] }