{
    "task_name": "clean a patio",
    "data_folder": "",
    "meta_data": {
        "task_duration": 11420,
        "valid_duration": [
            21,
            11441
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                21,
                258
            ],
            "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": [
                258,
                1091
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                5
            ],
            "skill_description": [
                "hand over"
            ],
            "object_id": [
                [
                    "broom_172",
                    "right",
                    "left"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1091,
                1352
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                94
            ],
            "skill_description": [
                "hold"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1352,
                1505
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1505,
                2000
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2000,
                2375
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2375,
                2771
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2771,
                2978
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2978,
                3248
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3248,
                3380
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3380,
                3686
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3686,
                3845
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3845,
                3929
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3929,
                4070
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4070,
                4346
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4346,
                4508
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4508,
                5601
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5601,
                5911
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5911,
                6082
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6082,
                6145
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6145,
                6253
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6253,
                6313
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                8
            ],
            "skill_description": [
                "release"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6313,
                6391
            ],
            "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": [
                6391,
                6481
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 24,
            "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": [
                6481,
                6619
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                [
                    6619,
                    6700
                ],
                [
                    6862,
                    7003
                ]
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                94
            ],
            "skill_description": [
                "hold"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6700,
                6862
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7003,
                7132
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7132,
                7276
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7276,
                7348
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7348,
                7519
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7519,
                7561
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 32,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7561,
                7918
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7918,
                7972
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 34,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                [
                    7972,
                    8155
                ],
                [
                    8419,
                    8803
                ]
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 35,
            "skill_id": [
                8
            ],
            "skill_description": [
                "release"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8155,
                8206
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 36,
            "skill_id": [
                94
            ],
            "skill_description": [
                "hold"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8206,
                8419
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 37,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8803,
                8896
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 38,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8896,
                9151
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 39,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9151,
                9241
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 40,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9241,
                9631
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 41,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9631,
                9775
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 42,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                [
                    9775,
                    9850
                ],
                [
                    9904,
                    10881
                ]
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 43,
            "skill_id": [
                8
            ],
            "skill_description": [
                "release"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9850,
                9877
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 44,
            "skill_id": [
                94
            ],
            "skill_description": [
                "hold"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9877,
                9904
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 45,
            "skill_id": [
                50
            ],
            "skill_description": [
                "sweep surface"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10881,
                11037
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 46,
            "skill_id": [
                8
            ],
            "skill_description": [
                "release"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11043,
                11121
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 47,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11121,
                11441
            ],
            "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": [
                21,
                1505
            ],
            "skill_idxes": [
                0,
                1,
                2,
                3
            ]
        },
        {
            "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": [
                1505,
                6391
            ],
            "skill_idxes": [
                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",
                    "robot"
                ]
            ],
            "manipulating_object_id": [
                "garden_chair_cottya_2"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "away"
                    ]
                ]
            ],
            "frame_duration": [
                6391,
                6619
            ],
            "skill_idxes": [
                23,
                24
            ]
        },
        {
            "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": [
                [
                    6619,
                    6700
                ],
                11037
            ],
            "skill_idxes": [
                25,
                26,
                27,
                28,
                29,
                30,
                31,
                32,
                33,
                34,
                35,
                36,
                37,
                38,
                39,
                40,
                41,
                42,
                43,
                44,
                45
            ]
        },
        {
            "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": [
                11043,
                11441
            ],
            "skill_idxes": [
                46,
                47
            ]
        }
    ]
}