{ "task_name": "clean a patio", "data_folder": "", "meta_data": { "task_duration": 13101, "valid_duration": [ 9, 13110 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 9, 243 ], "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": [ 243, 1365 ], "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": [ 1365, 1854 ], "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": [ 1854, 2037 ], "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": [ 2037, 2133 ], "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": [ 2133, 2667 ], "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": [ 2667, 2877 ], "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": [ 2877, 3108 ], "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": [ 3108, 3174 ], "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": [ 3174, 3771 ], "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": [ 3771, 3837 ], "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": [ 3837, 4146 ], "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": [ 4146, 4194 ], "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": [ 4194, 4959 ], "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": [ 4959, 5058 ], "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": [ 5058, 5316 ], "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": [ 5316, 5370 ], "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": [ 5370, 5541 ], "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": [ 5541, 5610 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 19, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_cottya_2" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 5610, 5793 ], [ 6003, 6222 ] ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 20, "skill_id": [ 8 ], "skill_description": [ "release" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 5793, 6003 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 21, "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": [ 6222, 6792 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 22, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_cottya_1" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6792, 6888 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 23, "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": [ 6888, 7107 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 24, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_cottya_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 7107, 7179 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 25, "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": [ 7179, 7497 ], "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": [ [ 7497, 7518 ], [ 8031, 8118 ] ], "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": [ 7518, 8031 ], "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": [ 8118, 8451 ], "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": [ 8451, 9033 ], "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": [ 9033, 9141 ], "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": [ 9141, 9240 ], "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": [ 9240, 9282 ], "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": [ 9282, 9375 ], "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": [ 9375, 9432 ], "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": [ 9432, 9801 ], "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": [ 9801, 9963 ], "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": [ 9963, 10983 ], "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": [ 10983, 11034 ], "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": [ 11034, 11400 ], "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": [ 11400, 11451 ], "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": [ 11451, 11793 ], "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": [ 11793, 11862 ], "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": [ 11862, 12027 ], "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": [ 12027, 12093 ], "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": [ 12093, 12402 ], "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": [ 12402, 12549 ], "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": [ 12549, 12783 ], "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": [ 12783, 12858 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 49, "skill_id": [ 8 ], "skill_description": [ "release" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 12858, 12984 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 50, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 12984, 13110 ], "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": [ 9, 1854 ], "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": [ 1854, 5610 ], "skill_idxes": [ 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18 ] }, { "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": [ [ 5610, 5793 ], 7497 ], "skill_idxes": [ 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": [ [ 7497, 7518 ], 12858 ], "skill_idxes": [ 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48 ] }, { "primitive_idx": 4, "primitive_id": [ 3 ], "primitive_description": [ "place on" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 12858, 13110 ], "skill_idxes": [ 49, 50 ] } ] }