{
    "task_name": "clean a patio",
    "data_folder": "",
    "meta_data": {
        "task_duration": 15024,
        "valid_duration": [
            6,
            15030
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6,
                459
            ],
            "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": [
                459,
                1449
            ],
            "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": [
                1647,
                1944
            ],
            "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": [
                1944,
                2139
            ],
            "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": [
                2139,
                2178
            ],
            "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": [
                2178,
                2445
            ],
            "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": [
                2445,
                2568
            ],
            "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": [
                2568,
                2997
            ],
            "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": [
                2997,
                3150
            ],
            "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": [
                3150,
                3576
            ],
            "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": [
                3576,
                3633
            ],
            "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": [
                3633,
                3822
            ],
            "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": [
                3822,
                3858
            ],
            "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": [
                3858,
                4014
            ],
            "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": [
                4014,
                4059
            ],
            "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": [
                4059,
                4272
            ],
            "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": [
                4272,
                4317
            ],
            "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": [
                4317,
                4452
            ],
            "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": [
                4452,
                4521
            ],
            "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": [
                4521,
                4638
            ],
            "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": [
                4638,
                4731
            ],
            "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": [
                4731,
                4836
            ],
            "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": [
                4836,
                4908
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "garden_chair_cottya_2"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                [
                    4908,
                    5565
                ],
                [
                    5868,
                    6087
                ]
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                8
            ],
            "skill_description": [
                "release"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5565,
                5868
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 25,
            "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": [
                6087,
                6552
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "garden_chair_cottya_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6552,
                6858
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 27,
            "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": [
                6858,
                7272
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "garden_chair_cottya_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7272,
                7461
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 29,
            "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": [
                7461,
                7923
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                [
                    7923,
                    8256
                ],
                [
                    8742,
                    9216
                ]
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                94
            ],
            "skill_description": [
                "hold"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8256,
                8742
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "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": [
                9216,
                9588
            ],
            "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": [
                9588,
                9735
            ],
            "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": [
                9735,
                9852
            ],
            "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": [
                9852,
                10110
            ],
            "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": [
                10110,
                10218
            ],
            "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": [
                10218,
                10389
            ],
            "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": [
                10389,
                10446
            ],
            "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": [
                10446,
                10569
            ],
            "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": [
                10569,
                10617
            ],
            "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": [
                10617,
                10689
            ],
            "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": [
                10689,
                10761
            ],
            "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": [
                [
                    10761,
                    11220
                ],
                [
                    11535,
                    11730
                ]
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 44,
            "skill_id": [
                8
            ],
            "skill_description": [
                "release"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11220,
                11394
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 45,
            "skill_id": [
                94
            ],
            "skill_description": [
                "hold"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11394,
                11535
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "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": [
                11730,
                11997
            ],
            "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": [
                11997,
                13047
            ],
            "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": [
                13047,
                13113
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 49,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                13113,
                13479
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 50,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13479,
                13632
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 51,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                13632,
                14028
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 52,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                14028,
                14157
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 53,
            "skill_id": [
                8
            ],
            "skill_description": [
                "release"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                14229,
                14337
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 54,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                14337,
                15030
            ],
            "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": [
                6,
                1944
            ],
            "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": [
                1944,
                4908
            ],
            "skill_idxes": [
                3,
                4,
                5,
                6,
                7,
                8,
                9,
                10,
                11,
                12,
                13,
                14,
                15,
                16,
                17,
                18,
                19,
                20,
                21,
                22
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                90
            ],
            "primitive_description": [
                "push to"
            ],
            "object_id": [
                [
                    [
                        "garden_chair_cottya_2",
                        "garden_chair_cottya_1",
                        "garden_chair_cottya_0"
                    ],
                    "robot"
                ]
            ],
            "manipulating_object_id": [
                [
                    "garden_chair_cottya_2",
                    "garden_chair_cottya_1",
                    "garden_chair_cottya_0"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "away",
                        "away",
                        "away"
                    ]
                ]
            ],
            "frame_duration": [
                [
                    4908,
                    5565
                ],
                7923
            ],
            "skill_idxes": [
                23,
                24,
                25,
                26,
                27,
                28,
                29
            ]
        },
        {
            "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": [
                [
                    7923,
                    8256
                ],
                14157
            ],
            "skill_idxes": [
                30,
                31,
                32,
                33,
                34,
                35,
                36,
                37,
                38,
                39,
                40,
                41,
                42,
                43,
                44,
                45,
                46,
                47,
                48,
                49,
                50,
                51,
                52
            ]
        },
        {
            "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": [
                14229,
                15030
            ],
            "skill_idxes": [
                53,
                54
            ]
        }
    ]
}