{
    "task_name": "clean a patio",
    "data_folder": "",
    "meta_data": {
        "task_duration": 14047,
        "valid_duration": [
            11,
            14058
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11,
                324
            ],
            "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": [
                324,
                1143
            ],
            "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": [
                1143,
                1562
            ],
            "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": [
                1565,
                1710
            ],
            "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": [
                1710,
                1967
            ],
            "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": [
                1967,
                2142
            ],
            "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": [
                2142,
                2361
            ],
            "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": [
                2361,
                2829
            ],
            "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": [
                2829,
                2895
            ],
            "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": [
                2895,
                2916
            ],
            "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": [
                2916,
                2982
            ],
            "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": [
                2982,
                3198
            ],
            "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": [
                3198,
                3289
            ],
            "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": [
                3289,
                3769
            ],
            "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": [
                3769,
                3831
            ],
            "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": [
                3831,
                3875
            ],
            "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": [
                3875,
                3942
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "garden_chair_cottya_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                [
                    3942,
                    4113
                ],
                [
                    4365,
                    4435
                ]
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                8
            ],
            "skill_description": [
                "release"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4113,
                4365
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 19,
            "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": [
                4435,
                5196
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "garden_chair_cottya_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5196,
                5409
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 21,
            "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": [
                5412,
                5817
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "garden_chair_cottya_2"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5817,
                5976
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 23,
            "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": [
                5976,
                6651
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "garden_chair_lraplz_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6651,
                6936
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "garden_chair_lraplz_0",
                    "robot"
                ]
            ],
            "manipulating_object_id": [
                "garden_chair_lraplz_0"
            ],
            "spatial_prefix": [
                [
                    "",
                    "away"
                ]
            ],
            "frame_duration": [
                6936,
                7614
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                [
                    7614,
                    7841
                ],
                [
                    8322,
                    8553
                ]
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                94
            ],
            "skill_description": [
                "hold"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7841,
                8322
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "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": [
                8553,
                8718
            ],
            "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": [
                8718,
                8964
            ],
            "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": [
                8964,
                9120
            ],
            "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": [
                9120,
                9678
            ],
            "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": [
                9678,
                9834
            ],
            "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": [
                9834,
                10380
            ],
            "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": [
                10380,
                10803
            ],
            "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": [
                10803,
                11214
            ],
            "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": [
                11214,
                11331
            ],
            "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": [
                11331,
                12006
            ],
            "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": [
                12006,
                12129
            ],
            "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": [
                12129,
                12300
            ],
            "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": [
                12300,
                12447
            ],
            "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": [
                12447,
                12657
            ],
            "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": [
                12657,
                12831
            ],
            "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": [
                12831,
                12842
            ],
            "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": [
                12842,
                12933
            ],
            "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": [
                12933,
                13134
            ],
            "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": [
                13134,
                13290
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 47,
            "skill_id": [
                8
            ],
            "skill_description": [
                "release"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13290,
                13449
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 48,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13449,
                14058
            ],
            "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": [
                11,
                1562
            ],
            "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": [
                1565,
                3942
            ],
            "skill_idxes": [
                3,
                4,
                5,
                6,
                7,
                8,
                9,
                10,
                11,
                12,
                13,
                14,
                15,
                16
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                90
            ],
            "primitive_description": [
                "push to"
            ],
            "object_id": [
                [
                    [
                        "garden_chair_cottya_0",
                        "garden_chair_cottya_1",
                        "garden_chair_cottya_2",
                        "garden_chair_lraplz_0"
                    ],
                    "robot"
                ]
            ],
            "manipulating_object_id": [
                [
                    "garden_chair_cottya_0",
                    "garden_chair_cottya_1",
                    "garden_chair_cottya_2",
                    "garden_chair_lraplz_0"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "away",
                        "away",
                        "away",
                        "away"
                    ]
                ]
            ],
            "frame_duration": [
                [
                    3942,
                    4113
                ],
                7614
            ],
            "skill_idxes": [
                17,
                18,
                19,
                20,
                21,
                22,
                23,
                24,
                25
            ]
        },
        {
            "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": [
                [
                    7614,
                    7841
                ],
                13290
            ],
            "skill_idxes": [
                26,
                27,
                28,
                29,
                30,
                31,
                32,
                33,
                34,
                35,
                36,
                37,
                38,
                39,
                40,
                41,
                42,
                43,
                44,
                45,
                46
            ]
        },
        {
            "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": [
                13290,
                14058
            ],
            "skill_idxes": [
                47,
                48
            ]
        }
    ]
}