{ "task_name": "clean a patio", "data_folder": "", "meta_data": { "task_duration": 12335, "valid_duration": [ 0, 12335 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 861 ], "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": [ 861, 1800 ], "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": [ 1800, 2012 ], "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": [ 2012, 2478 ], "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": [ 2478, 2508 ], "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": [ 2508, 2691 ], "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": [ 2691, 2742 ], "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": [ 2742, 3462 ], "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": [ 3462, 3489 ], "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": [ 3489, 3612 ], "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": [ 3612, 3657 ], "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": [ 3657, 3780 ], "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": [ 3780, 3822 ], "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": [ 3822, 3984 ], "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": [ 3984, 4010 ], "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": [ 4010, 4050 ], "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": [ 4050, 4098 ], "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": [ 4098, 4578 ], "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": [ 4578, 4629 ], "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": [ 4629, 5013 ], "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": [ 5013, 5070 ], "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": [ 5070, 5907 ], "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": [ 5907, 6078 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 23, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6078, 6270 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 24, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 6270, 6336 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 25, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 6336, 6558 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 26, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 6558, 6651 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 27, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_cottya_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 6651, 7191 ], [ 7338, 7401 ] ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 28, "skill_id": [ 8 ], "skill_description": [ "release" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 7191, 7338 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "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": [ 7401, 8025 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 30, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_cottya_1" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8025, 8096 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 31, "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": [ 8096, 8346 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 32, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_cottya_2" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 8346, 8430 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 33, "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": [ 8430, 8682 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 34, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 8682, 9000 ], [ 9330, 9513 ] ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 35, "skill_id": [ 94 ], "skill_description": [ "hold" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 9000, 9330 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "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": [ 9513, 9528 ], "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": [ 9528, 9546 ], "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": [ 9546, 9570 ], "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": [ 9570, 9774 ], "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": [ 9774, 9798 ], "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": [ 9798, 9801 ], "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": [ 9801, 9819 ], "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": [ 9819, 9936 ], "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": [ 9936, 9960 ], "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": [ 9960, 10230 ], "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": [ 10230, 10302 ], "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": [ 10302, 11598 ], "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": [ 11598, 11676 ], "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": [ 11748, 11793 ], "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": [ 11793, 12335 ], "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": [ 0, 2012 ], "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": [ 2012, 6651 ], "skill_idxes": [ 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26 ] }, { "primitive_idx": 2, "primitive_id": [ 90 ], "primitive_description": [ "push to" ], "object_id": [ [ [ "garden_chair_cottya_0", "garden_chair_cottya_1", "garden_chair_cottya_2" ], "robot" ] ], "manipulating_object_id": [ [ "garden_chair_cottya_0", "garden_chair_cottya_1", "garden_chair_cottya_2" ] ], "spatial_prefix": [ [ [], [ "away", "away", "away" ] ] ], "frame_duration": [ [ 6651, 7191 ], 8682 ], "skill_idxes": [ 27, 28, 29, 30, 31, 32, 33 ] }, { "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": [ [ 8682, 9000 ], 11676 ], "skill_idxes": [ 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": [ 11748, 12335 ], "skill_idxes": [ 49, 50 ] } ] }