{
    "task_name": "clean a patio",
    "data_folder": "",
    "meta_data": {
        "task_duration": 10113,
        "valid_duration": [
            0,
            10113
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                513
            ],
            "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": [
                513,
                1311
            ],
            "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": [
                1443,
                1665
            ],
            "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": [
                1665,
                1740
            ],
            "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": [
                1740,
                1830
            ],
            "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": [
                1830,
                1929
            ],
            "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": [
                1929,
                2007
            ],
            "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": [
                2007,
                2586
            ],
            "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": [
                2586,
                2664
            ],
            "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": [
                2664,
                3120
            ],
            "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": [
                3120,
                3192
            ],
            "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": [
                3192,
                3288
            ],
            "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": [
                3288,
                3342
            ],
            "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": [
                3342,
                3591
            ],
            "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": [
                3591,
                3666
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "garden_chair_cottya_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                [
                    3666,
                    3939
                ],
                [
                    4065,
                    4176
                ]
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                8
            ],
            "skill_description": [
                "release"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3975,
                4065
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 17,
            "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": [
                4176,
                4554
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                [
                    4554,
                    4602
                ],
                [
                    4797,
                    4923
                ]
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                94
            ],
            "skill_description": [
                "hold"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4602,
                4797
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "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": [
                4923,
                5088
            ],
            "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": [
                5088,
                5331
            ],
            "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": [
                5331,
                5382
            ],
            "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": [
                5382,
                5610
            ],
            "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": [
                5610,
                5658
            ],
            "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": [
                5658,
                5886
            ],
            "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": [
                5886,
                5919
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mud"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5919,
                5967
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "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": [
                5967,
                6003
            ],
            "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": [
                6003,
                6408
            ],
            "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": [
                6408,
                6564
            ],
            "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": [
                6564,
                6576
            ],
            "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": [
                6576,
                6612
            ],
            "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": [
                6612,
                7005
            ],
            "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": [
                7005,
                7176
            ],
            "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": [
                7176,
                8481
            ],
            "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": [
                8481,
                8577
            ],
            "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": [
                8577,
                8979
            ],
            "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": [
                8979,
                9039
            ],
            "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": [
                9039,
                9102
            ],
            "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": [
                9102,
                9129
            ],
            "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": [
                9129,
                9141
            ],
            "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": [
                9141,
                9192
            ],
            "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": [
                9192,
                9489
            ],
            "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": [
                9489,
                9582
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 45,
            "skill_id": [
                8
            ],
            "skill_description": [
                "release"
            ],
            "object_id": [
                [
                    "broom_172"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9582,
                9669
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 46,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "broom_172",
                    "floors_ghetev_0"
                ]
            ],
            "manipulating_object_id": [
                "broom_172"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9669,
                10113
            ],
            "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,
                1665
            ],
            "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": [
                1665,
                3666
            ],
            "skill_idxes": [
                3,
                4,
                5,
                6,
                7,
                8,
                9,
                10,
                11,
                12,
                13,
                14
            ]
        },
        {
            "primitive_idx": 2,
            "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": [
                [
                    3666,
                    3939
                ],
                4554
            ],
            "skill_idxes": [
                15,
                16,
                17
            ]
        },
        {
            "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": [
                [
                    4554,
                    4602
                ],
                9582
            ],
            "skill_idxes": [
                18,
                19,
                20,
                21,
                22,
                23,
                24,
                25,
                26,
                27,
                28,
                29,
                30,
                31,
                32,
                33,
                34,
                35,
                36,
                37,
                38,
                39,
                40,
                41,
                42,
                43,
                44
            ]
        },
        {
            "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": [
                9582,
                10113
            ],
            "skill_idxes": [
                45,
                46
            ]
        }
    ]
}