{
    "task_name": "clean a patio",
    "data_folder": "",
    "meta_data": {
        "task_duration": 8700,
        "valid_duration": [
            12,
            8712
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                12,
                751
            ],
            "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": [
                751,
                1809
            ],
            "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": [
                1809,
                2205
            ],
            "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": [
                2205,
                2311
            ],
            "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": [
                2311,
                2388
            ],
            "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": [
                2388,
                2853
            ],
            "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": [
                2853,
                2901
            ],
            "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": [
                2901,
                3118
            ],
            "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": [
                3118,
                3159
            ],
            "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": [
                3159,
                3213
            ],
            "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": [
                3213,
                3258
            ],
            "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": [
                3258,
                3483
            ],
            "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": [
                3483,
                3529
            ],
            "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": [
                3529,
                3693
            ],
            "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": [
                3693,
                3747
            ],
            "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": [
                3747,
                4107
            ],
            "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": [
                4107,
                4150
            ],
            "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": [
                4150,
                4847
            ],
            "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": [
                4847,
                4920
            ],
            "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": [
                4920,
                5073
            ],
            "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": [
                5073,
                5133
            ],
            "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": [
                5133,
                5448
            ],
            "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": [
                5448,
                5569
            ],
            "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": [
                5569,
                5804
            ],
            "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": [
                5804,
                5912
            ],
            "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": [
                5912,
                6057
            ],
            "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": [
                6057,
                6108
            ],
            "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": [
                6108,
                6195
            ],
            "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": [
                6195,
                6255
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6255,
                6576
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6576,
                6642
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6642,
                6916
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 32,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6916,
                6960
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6960,
                7026
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 34,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7026,
                7053
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 35,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7053,
                7174
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 36,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7174,
                7212
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 37,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7212,
                7299
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "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": [
                7299,
                7344
            ],
            "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": [
                7344,
                8085
            ],
            "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": [
                8085,
                8149
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 41,
            "skill_id": [
                8
            ],
            "skill_description": [
                "release"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8215,
                8292
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 42,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8292,
                8712
            ],
            "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": [
                12,
                2205
            ],
            "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": [
                2205,
                8149
            ],
            "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,
                29,
                30,
                31,
                32,
                33,
                34,
                35,
                36,
                37,
                38,
                39,
                40
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                3
            ],
            "primitive_description": [
                "place on"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8215,
                8712
            ],
            "skill_idxes": [
                41,
                42
            ]
        }
    ]
}