{ "task_name": "clean a patio", "data_folder": "", "meta_data": { "task_duration": 11334, "valid_duration": [ 0, 11334 ] }, "skill_annotation": [ { "skill_idx": 0, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 0, 1098 ], "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": [ 1098, 1956 ], "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": [ 1956, 2154 ], "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": [ 2154, 2250 ], "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": [ 2250, 2397 ], "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": [ 2397, 2517 ], "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": [ 2517, 2604 ], "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": [ 2604, 2853 ], "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": [ 2853, 2943 ], "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": [ 2943, 3153 ], "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": [ 3153, 3267 ], "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": [ 3267, 4344 ], "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": [ 4344, 4449 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 13, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_lraplz_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 4449, 4716 ], [ 4797, 4902 ] ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 14, "skill_id": [ 8 ], "skill_description": [ "release" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 4716, 4797 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 15, "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": [ 4899, 5049 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 16, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 5049, 5091 ], [ 5229, 5313 ] ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 17, "skill_id": [ 94 ], "skill_description": [ "hold" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 5091, 5229 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "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": [ 5313, 5382 ], "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": [ 5382, 5712 ], "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": [ 5712, 5757 ], "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": [ 5757, 5799 ], "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": [ 5799, 5889 ], "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": [ 5889, 6087 ], "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": [ 6087, 6216 ], "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": [ 6216, 6297 ], "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": [ 6297, 6387 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 27, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_cottya_2" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 6387, 6648 ], [ 6783, 6810 ] ], "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": [ 6648, 6783 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 29, "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": [ 6810, 7068 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 30, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 7068, 7134 ], [ 7383, 7422 ] ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 31, "skill_id": [ 94 ], "skill_description": [ "hold" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 7173, 7383 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 32, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 7422, 7560 ], "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": [ 7560, 7647 ], "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": [ 7647, 7716 ], "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": [ 7716, 8424 ], "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": [ 8424, 8478 ], "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": [ 8478, 8643 ], "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": [ 8643, 8682 ], "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": [ 8682, 8835 ], "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": [ 8835, 8886 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 41, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "garden_chair_cottya_0" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 8886, 9291 ], [ 9375, 9489 ] ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 42, "skill_id": [ 8 ], "skill_description": [ "release" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 9291, 9375 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 43, "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": [ 9489, 9753 ], "mp_ef": [], "skill_type": [ "uncoordinated" ] }, { "skill_idx": 44, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ [ 9753, 9867 ], [ 10032, 10104 ] ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 45, "skill_id": [ 94 ], "skill_description": [ "hold" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 9867, 10032 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 46, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 10104, 10242 ], "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": [ 10242, 10392 ], "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": [ 10392, 10485 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 49, "skill_id": [ 1 ], "skill_description": [ "move to" ], "object_id": [ [ "mud" ] ], "manipulating_object_id": [], "spatial_prefix": [], "frame_duration": [ 10485, 10623 ], "mp_ef": [], "skill_type": [ "navigation" ] }, { "skill_idx": 50, "skill_id": [ 50 ], "skill_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 10623, 10668 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 51, "skill_id": [ 8 ], "skill_description": [ "release" ], "object_id": [ [ "broom_172" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 10767, 10818 ], "mp_ef": [], "skill_type": [ "coordinated" ] }, { "skill_idx": 52, "skill_id": [ 3 ], "skill_description": [ "place on" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 10818, 11334 ], "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, 2154 ], "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": [ 2154, 4449 ], "skill_idxes": [ 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 ] }, { "primitive_idx": 2, "primitive_id": [ 90 ], "primitive_description": [ "push to" ], "object_id": [ [ "garden_chair_lraplz_0", "robot" ] ], "manipulating_object_id": [ "garden_chair_lraplz_0" ], "spatial_prefix": [ [ [], [ "away" ] ] ], "frame_duration": [ [ 4449, 4716 ], 5049 ], "skill_idxes": [ 13, 14, 15 ] }, { "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": [ [ 5049, 5091 ], 6387 ], "skill_idxes": [ 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26 ] }, { "primitive_idx": 4, "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": [ [ 6387, 6648 ], 7068 ], "skill_idxes": [ 27, 28, 29 ] }, { "primitive_idx": 5, "primitive_id": [ 50 ], "primitive_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ [ 7068, 7134 ], 8886 ], "skill_idxes": [ 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40 ] }, { "primitive_idx": 6, "primitive_id": [ 90 ], "primitive_description": [ "push to" ], "object_id": [ [ "garden_chair_cottya_0", "robot" ] ], "manipulating_object_id": [ "garden_chair_cottya_0" ], "spatial_prefix": [ [ [], [ "away" ] ] ], "frame_duration": [ [ 8886, 9291 ], 9753 ], "skill_idxes": [ 41, 42, 43 ] }, { "primitive_idx": 7, "primitive_id": [ 50 ], "primitive_description": [ "sweep surface" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ [ 9753, 9867 ], 10668 ], "skill_idxes": [ 44, 45, 46, 47, 48, 49, 50 ] }, { "primitive_idx": 8, "primitive_id": [ 3 ], "primitive_description": [ "place on" ], "object_id": [ [ "broom_172", "floors_ghetev_0" ] ], "manipulating_object_id": [ "broom_172" ], "spatial_prefix": [], "frame_duration": [ 10767, 11334 ], "skill_idxes": [ 51, 52 ] } ] }